{"id":"https://openalex.org/W3204973120","doi":"https://doi.org/10.1109/icra48506.2021.9561254","title":"Efficient Multi-sensor Aided Inertial Navigation with Online Calibration","display_name":"Efficient Multi-sensor Aided Inertial Navigation with Online Calibration","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3204973120","doi":"https://doi.org/10.1109/icra48506.2021.9561254","mag":"3204973120"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561254","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/A5070784376","display_name":"Woosik Lee","orcid":"https://orcid.org/0000-0003-4611-1999"},"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":"Woosik Lee","raw_affiliation_strings":["University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716"],"affiliations":[{"raw_affiliation_string":"University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101976414","display_name":"Yulin Yang","orcid":"https://orcid.org/0000-0002-9675-9147"},"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":"Yulin Yang","raw_affiliation_strings":["University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716"],"affiliations":[{"raw_affiliation_string":"University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716","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":["University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716"],"affiliations":[{"raw_affiliation_string":"University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070784376"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":6.8,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.96321261,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5706","last_page":"5712"},"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":0.9986000061035156,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8599184155464172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7514358758926392},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7427135705947876},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5873013734817505},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5720075368881226},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.557776153087616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5554085969924927},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5534124374389648},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.44249534606933594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.435903400182724},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3498448133468628},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33230090141296387},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12069058418273926},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11518251895904541}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8599184155464172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7514358758926392},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7427135705947876},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5873013734817505},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5720075368881226},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.557776153087616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5554085969924927},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5534124374389648},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.44249534606933594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.435903400182724},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3498448133468628},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33230090141296387},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12069058418273926},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11518251895904541},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561254","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":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308928","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W166817922","https://openalex.org/W1512698229","https://openalex.org/W1634692259","https://openalex.org/W1968917201","https://openalex.org/W2061319289","https://openalex.org/W2118223742","https://openalex.org/W2127752689","https://openalex.org/W2132512702","https://openalex.org/W2296228853","https://openalex.org/W2515303922","https://openalex.org/W2567028727","https://openalex.org/W2592176770","https://openalex.org/W2606794968","https://openalex.org/W2756242387","https://openalex.org/W2908571003","https://openalex.org/W2908603664","https://openalex.org/W2909063396","https://openalex.org/W2938170127","https://openalex.org/W2963706662","https://openalex.org/W2963995491","https://openalex.org/W2983636741","https://openalex.org/W3004334518","https://openalex.org/W3013419435","https://openalex.org/W3048408673","https://openalex.org/W3091459796","https://openalex.org/W3091486995","https://openalex.org/W3091667825","https://openalex.org/W3129245057","https://openalex.org/W3130549426","https://openalex.org/W3130800379","https://openalex.org/W3132323429","https://openalex.org/W3132600665","https://openalex.org/W3133648073","https://openalex.org/W4295838614","https://openalex.org/W4394659040","https://openalex.org/W6606801450","https://openalex.org/W6770611196","https://openalex.org/W6774987315","https://openalex.org/W6780411392","https://openalex.org/W6781684710","https://openalex.org/W6781943198","https://openalex.org/W6783618515","https://openalex.org/W6790701677","https://openalex.org/W6790926376","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W3000097931","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W3043079964"],"abstract_inverted_index":{"In":[0],"this":[1,42],"paper,":[2],"we":[3,44,75],"design":[4],"a":[5,52,62],"versatile":[6],"multi-sensor":[7],"aided":[8],"inertial":[9],"navigation":[10],"system":[11,96],"(MINS)":[12],"that":[13],"can":[14],"efficiently":[15],"fuse":[16],"multi-modal":[17],"measurements":[18],"of":[19,65,139],"IMU,":[20],"camera,":[21],"wheel":[22],"encoder,":[23],"GPS,":[24],"and":[25,109,116,122,137],"3D":[26,58,66],"LiDAR":[27,49,59,90,100],"along":[28],"with":[29,125],"online":[30],"spatiotemporal":[31],"sensor":[32],"calibration.":[33],"Building":[34],"upon":[35],"our":[36],"prior":[37],"work":[38,43],"[1]":[39],"&#x2013;[3],":[40],"in":[41,51],"primarily":[45],"focus":[46],"on":[47],"efficient":[48,115],"integration":[50],"sliding-window":[53],"filtering":[54],"fashion.":[55],"As":[56],"each":[57],"scan":[60],"contains":[61],"large":[63],"volume":[64],"points":[67],"which":[68,80],"poses":[69],"great":[70],"challenges":[71],"for":[72],"real-time":[73],"performance,":[74],"advocate":[76],"using":[77],"plane":[78,101],"patches,":[79],"contain":[81],"the":[82,88,95,135,140],"environmental":[83],"structural":[84],"information,":[85],"extracted":[86],"from":[87],"sparse":[89],"point":[91],"cloud":[92],"to":[93,113,133],"update/calibrate":[94],"efficiently.":[97],"The":[98],"proposed":[99,141],"patch":[102],"processing":[103],"algorithm":[104],"(including":[105],"extraction,":[106],"data":[107],"association,":[108],"update)":[110],"is":[111],"shown":[112],"be":[114],"consistent.":[117],"Both":[118],"Extensive":[119],"Monte-Carlo":[120],"simulations":[121],"real-world":[123],"datasets":[124],"large-scale":[126],"urban":[127],"driving":[128],"scenarios":[129],"have":[130],"been":[131],"used":[132],"verify":[134],"accuracy":[136],"consistency":[138],"MINS":[142],"algorithm.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
