{"id":"https://openalex.org/W3207230667","doi":"https://doi.org/10.1109/icra48506.2021.9561410","title":"Direct Sparse Stereo Visual-Inertial Global Odometry","display_name":"Direct Sparse Stereo Visual-Inertial Global Odometry","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207230667","doi":"https://doi.org/10.1109/icra48506.2021.9561410","mag":"3207230667"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561410","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":"conference-paper","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/A5100400479","display_name":"Ziqiang Wang","orcid":"https://orcid.org/0000-0002-6883-8569"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ziqiang Wang","raw_affiliation_strings":["UISEE (Shanghai) Automotive Technologies LTD, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UISEE (Shanghai) Automotive Technologies LTD, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331893","display_name":"Mei Li","orcid":"https://orcid.org/0000-0001-8116-3423"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mei Li","raw_affiliation_strings":["UISEE (Shanghai) Automotive Technologies LTD, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UISEE (Shanghai) Automotive Technologies LTD, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019094940","display_name":"Dingkun Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dingkun Zhou","raw_affiliation_strings":["UISEE (Shanghai) Automotive Technologies LTD, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UISEE (Shanghai) Automotive Technologies LTD, Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100664805","display_name":"Ziqiang Zheng","orcid":"https://orcid.org/0000-0003-4027-7955"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ziqiang Zheng","raw_affiliation_strings":["UISEE (Shanghai) Automotive Technologies LTD, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UISEE (Shanghai) Automotive Technologies LTD, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14403","last_page":"14409"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9958999752998352,"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/computer-vision","display_name":"Computer vision","score":0.7888039350509644},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7608683109283447},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7528656125068665},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7475693225860596},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7366524338722229},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7085224390029907},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6284904479980469},{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.5205082297325134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46443021297454834},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.44116508960723877},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.43300697207450867},{"id":"https://openalex.org/keywords/sliding-window-protocol","display_name":"Sliding window protocol","score":0.4280160069465637},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4269729256629944},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4114759564399719},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3536509871482849},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.2892361879348755},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.09838631749153137}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7888039350509644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7608683109283447},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7528656125068665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7475693225860596},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7366524338722229},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7085224390029907},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6284904479980469},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.5205082297325134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46443021297454834},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.44116508960723877},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.43300697207450867},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.4280160069465637},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4269729256629944},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4114759564399719},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3536509871482849},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.2892361879348755},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.09838631749153137},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"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/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/icra48506.2021.9561410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561410","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1981699551","https://openalex.org/W1989484209","https://openalex.org/W2056358962","https://openalex.org/W2108134361","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2140599684","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2202251471","https://openalex.org/W2218842719","https://openalex.org/W2396274919","https://openalex.org/W2411412724","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2564632156","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2792006036","https://openalex.org/W2797929305","https://openalex.org/W2809451359","https://openalex.org/W2830339951","https://openalex.org/W2884962765","https://openalex.org/W2887564721","https://openalex.org/W2909063396","https://openalex.org/W2937713253","https://openalex.org/W2963562098","https://openalex.org/W2963566952","https://openalex.org/W3003455978","https://openalex.org/W3003487057","https://openalex.org/W3091459796","https://openalex.org/W3091592533","https://openalex.org/W3091667825","https://openalex.org/W3099913005","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3104255671","https://openalex.org/W3105612746","https://openalex.org/W3125449081","https://openalex.org/W3165610079","https://openalex.org/W4394659040","https://openalex.org/W6618872416","https://openalex.org/W6752865273","https://openalex.org/W6795742097","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Robust":[0],"and":[1,11,35,75,100],"accurate":[2,102],"localization":[3],"plays":[4],"a":[5,24],"key":[6],"role":[7],"in":[8],"autonomous":[9],"driving":[10],"robot":[12],"applications.":[13],"To":[14],"utilize":[15],"the":[16,30,44,60,82,90,107],"complementary":[17],"properties":[18],"of":[19,65,109],"different":[20],"sensors,":[21],"we":[22],"present":[23],"novel":[25],"tightly-coupled":[26],"approach":[27],"to":[28],"combine":[29],"local":[31],"(stereo":[32],"cameras,":[33],"IMU)":[34],"global":[36],"sensors":[37],"(magnetometer,":[38],"GNSS).":[39],"We":[40,105],"jointly":[41],"optimize":[42],"all":[43,79,89],"model":[45],"parameters":[46],"through":[47],"one":[48],"active":[49,83],"window.":[50],"The":[51],"visual":[52],"part":[53],"integrates":[54],"constraints":[55],"from":[56],"static":[57],"stereo":[58],"into":[59,81],"photometric":[61],"bundle":[62],"adjustment":[63],"pipeline":[64],"dynamic":[66],"multiview":[67],"stereo.":[68],"Accumulating":[69],"IMU":[70],"information":[71],"between":[72],"keyframes,":[73],"magnetometer":[74],"GNSS":[76],"measurements":[77],"are":[78],"inserted":[80],"window":[84],"as":[85],"additional":[86],"constrains":[87],"among":[88],"keyframes.":[91],"Through":[92],"these,":[93],"our":[94,110],"method":[95],"can":[96],"realize":[97],"globally":[98],"drift-free":[99],"locally":[101],"state":[103],"estimation.":[104],"evaluate":[106],"effectiveness":[108],"system":[111],"on":[112],"public":[113],"datasets":[114],"under":[115],"with":[116],"real-world":[117],"experiments.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}