{"id":"https://openalex.org/W4383108876","doi":"https://doi.org/10.1109/icra48891.2023.10160620","title":"Monocular Visual-Inertial Odometry with Planar Regularities","display_name":"Monocular Visual-Inertial Odometry with Planar Regularities","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108876","doi":"https://doi.org/10.1109/icra48891.2023.10160620"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160620","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5015733260","display_name":"Chuchu Chen","orcid":"https://orcid.org/0000-0001-6201-3200"},"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":"Chuchu Chen","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055849494","display_name":"Patrick Geneva","orcid":"https://orcid.org/0000-0002-2179-3447"},"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":"Patrick Geneva","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061570938","display_name":"Yuxiang Peng","orcid":"https://orcid.org/0000-0002-1089-1121"},"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":"Yuxiang Peng","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","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":false,"raw_author_name":"Woosik Lee","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,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":["Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,USA,19716","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":20.0694,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.99056924,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6224","last_page":"6231"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7500810623168945},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7416059970855713},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7213902473449707},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6808803081512451},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6260567307472229},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5440759658813477},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.47513917088508606},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4276539385318756},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.424900621175766},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.41204118728637695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3514695167541504},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.22001183032989502},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12498900294303894}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7500810623168945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7416059970855713},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7213902473449707},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6808803081512451},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6260567307472229},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5440759658813477},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.47513917088508606},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4276539385318756},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.424900621175766},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.41204118728637695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3514695167541504},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.22001183032989502},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12498900294303894},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160620","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6198563744","display_name":null,"funder_award_id":"IIS-1924897,SCH-2014264,CNS-2018905","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308928","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W158679550","https://openalex.org/W166817922","https://openalex.org/W605763459","https://openalex.org/W612478963","https://openalex.org/W1531532259","https://openalex.org/W1532362218","https://openalex.org/W1987648924","https://openalex.org/W1996478058","https://openalex.org/W2007039858","https://openalex.org/W2013002270","https://openalex.org/W2025007236","https://openalex.org/W2025519812","https://openalex.org/W2036773635","https://openalex.org/W2056358962","https://openalex.org/W2085261163","https://openalex.org/W2091790851","https://openalex.org/W2102271310","https://openalex.org/W2108134361","https://openalex.org/W2118223742","https://openalex.org/W2136527382","https://openalex.org/W2137052305","https://openalex.org/W2250172176","https://openalex.org/W2294850404","https://openalex.org/W2396274919","https://openalex.org/W2412116248","https://openalex.org/W2745859992","https://openalex.org/W2772942222","https://openalex.org/W2775180085","https://openalex.org/W2892147056","https://openalex.org/W2895040125","https://openalex.org/W2895823395","https://openalex.org/W2897551763","https://openalex.org/W2905260191","https://openalex.org/W2908603664","https://openalex.org/W2909063396","https://openalex.org/W2909157769","https://openalex.org/W2940237668","https://openalex.org/W2954772682","https://openalex.org/W2967494572","https://openalex.org/W2968125992","https://openalex.org/W2968190521","https://openalex.org/W2968489055","https://openalex.org/W2968893828","https://openalex.org/W2980788490","https://openalex.org/W3004334518","https://openalex.org/W3034346071","https://openalex.org/W3043971245","https://openalex.org/W3090386798","https://openalex.org/W3091667825","https://openalex.org/W3096087403","https://openalex.org/W3100207723","https://openalex.org/W3130066555","https://openalex.org/W3132323429","https://openalex.org/W3132600665","https://openalex.org/W3132921302","https://openalex.org/W3136733000","https://openalex.org/W3182318349","https://openalex.org/W3204973120","https://openalex.org/W3205757493","https://openalex.org/W3207187295","https://openalex.org/W3207290493","https://openalex.org/W3207695208","https://openalex.org/W4206221290","https://openalex.org/W4248944231","https://openalex.org/W4256361765","https://openalex.org/W4285102285","https://openalex.org/W4285102366","https://openalex.org/W4285102531","https://openalex.org/W4285295417","https://openalex.org/W4288064527","https://openalex.org/W4312278272","https://openalex.org/W6677548441","https://openalex.org/W6758162286","https://openalex.org/W6791084763"],"related_works":["https://openalex.org/W4251504644","https://openalex.org/W132764016","https://openalex.org/W2148054235","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966"],"abstract_inverted_index":{"State-of-the-art":[0],"monocular":[1,77],"visual-inertial":[2],"odometry":[3],"(VIO)":[4],"approaches":[5],"rely":[6],"on":[7],"sparse":[8],"point":[9,134],"features":[10,86,135,169],"in":[11,69,126,140,148,210],"part":[12],"due":[13,55],"to":[14,31,38,56,136,165,181,205],"their":[15,57],"efficiency,":[16],"robustness,":[17],"and":[18,34,61,170,194,203],"prevalence,":[19],"while":[20,129,152],"ignoring":[21],"high-level":[22],"structural":[23],"regularities":[24,162],"such":[25,116],"as":[26,117,123],"planes":[27,43,145],"that":[28,80],"are":[29,63,146,155,163],"common":[30],"man-made":[32],"environments":[33],"can":[35,44],"be":[36,45],"exploited":[37],"further":[39],"constrain":[40],"motion.":[41],"Generally,":[42],"observed":[46],"by":[47,84],"a":[48,74,88,118],"camera":[49,122],"for":[50,65,159],"significant":[51],"periods":[52],"of":[53,98,133],"time":[54],"large":[58],"spatial":[59],"presence":[60],"thus,":[62],"amenable":[64],"long-term":[66],"navigation.":[67],"Therefore,":[68],"this":[70],"paper,":[71],"we":[72],"design":[73],"novel":[75],"real-time":[76,131],"VIO":[78,183,209],"system":[79],"is":[81,101,188],"fully":[82,175],"regularized":[83],"planar":[85],"within":[87],"lightweight":[89],"multi-state":[90],"constraint":[91],"Kalman":[92],"filter":[93],"(MSCKF).":[94],"At":[95],"the":[96,127,141,149,177,207],"core":[97],"our":[99],"method":[100],"an":[102,199],"efficient":[103],"robust":[104],"monocular-based":[105],"plane":[106,179],"detection":[107],"algorithm,":[108],"which":[109],"does":[110],"not":[111],"require":[112],"additional":[113],"sensing":[114],"modalities":[115],"stereo":[119],"or":[120],"depth":[121],"commonly":[124],"seen":[125],"literature,":[128],"enabling":[130],"regularization":[132],"environmental":[137,178],"planes.":[138],"Specifically,":[139],"proposed":[142,186],"MSCKF,":[143],"long-lived":[144],"maintained":[147],"state":[150],"vector,":[151],"shorter":[153],"ones":[154],"marginalized":[156],"after":[157],"use":[158],"efficiency.":[160],"Planar":[161],"applied":[164],"both":[166],"in-state":[167],"SLAM":[168],"out-of-state":[171],"MSCKF":[172],"features,":[173],"thus":[174],"exploiting":[176],"information":[180],"improve":[182],"performance.":[184],"The":[185],"approach":[187],"evaluated":[189],"with":[190],"extensive":[191],"Monte-Carlo":[192],"simulations":[193],"different":[195],"real-world":[196],"experiments":[197],"including":[198],"author-collected":[200],"AR":[201],"scenario,":[202],"shown":[204],"outperform":[206],"point-based":[208],"structured":[211],"environments.":[212],"Video":[213],"Demonstration":[214],"https://youtu.be/bec7LbYaOS8AR":[215],"Table":[216],"Dataset":[217],"https://github.com/rpng/ar_table_dataset":[218]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}