{"id":"https://openalex.org/W4413918218","doi":"https://doi.org/10.1109/icra55743.2025.11127304","title":"Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment","display_name":"Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918218","doi":"https://doi.org/10.1109/icra55743.2025.11127304"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127304","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orbilu.uni.lu/handle/10993/64587","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007923552","display_name":"Junlin Song","orcid":"https://orcid.org/0009-0007-3184-9751"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":true,"raw_author_name":"Junlin Song","raw_affiliation_strings":["University of Luxembourg,Space Robotics (SpaceR) Research Group, Int. Centre for Security, Reliability and Trust (SnT),Luxembourg"],"affiliations":[{"raw_affiliation_string":"University of Luxembourg,Space Robotics (SpaceR) Research Group, Int. Centre for Security, Reliability and Trust (SnT),Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090913728","display_name":"Antoine Richard","orcid":"https://orcid.org/0000-0003-4018-699X"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Antoine Richard","raw_affiliation_strings":["University of Luxembourg,Space Robotics (SpaceR) Research Group, Int. Centre for Security, Reliability and Trust (SnT),Luxembourg"],"affiliations":[{"raw_affiliation_string":"University of Luxembourg,Space Robotics (SpaceR) Research Group, Int. Centre for Security, Reliability and Trust (SnT),Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085280731","display_name":"Miguel Olivares-Mendez","orcid":"https://orcid.org/0000-0001-8824-3231"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Miguel Olivares-Mendez","raw_affiliation_strings":["University of Luxembourg,Space Robotics (SpaceR) Research Group, Int. Centre for Security, Reliability and Trust (SnT),Luxembourg"],"affiliations":[{"raw_affiliation_string":"University of Luxembourg,Space Robotics (SpaceR) Research Group, Int. Centre for Security, Reliability and Trust (SnT),Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007923552"],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28442408,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1039","last_page":"1045"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9944999814033508,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9944999814033508,"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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9861999750137329,"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/initialization","display_name":"Initialization","score":0.7415683269500732},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.7280842065811157},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7185565829277039},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6366697549819946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6290925741195679},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5609573721885681},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.4979233741760254},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10357609391212463},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.07251131534576416}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7415683269500732},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.7280842065811157},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7185565829277039},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6366697549819946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6290925741195679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5609573721885681},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.4979233741760254},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10357609391212463},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.07251131534576416},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11127304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127304","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/64587","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/64587","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, United States [US], 19\u201323 May 2025","raw_type":"peer reviewed"}],"best_oa_location":{"id":"pmh:oai:orbilu.uni.lu:10993/64587","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/64587","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, United States [US], 19\u201323 May 2025","raw_type":"peer reviewed"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1969726450","https://openalex.org/W1976456943","https://openalex.org/W2069829158","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2314596443","https://openalex.org/W2396274919","https://openalex.org/W2482726005","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2773447888","https://openalex.org/W2797395780","https://openalex.org/W2883702102","https://openalex.org/W2909157769","https://openalex.org/W2910351748","https://openalex.org/W2931843659","https://openalex.org/W3043971245","https://openalex.org/W3091592533","https://openalex.org/W3091667825","https://openalex.org/W3126451697","https://openalex.org/W3133457083","https://openalex.org/W4312929349","https://openalex.org/W4385430487","https://openalex.org/W4386066483","https://openalex.org/W4387415230","https://openalex.org/W4400985624","https://openalex.org/W4402727243"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W2355833770","https://openalex.org/W1985458517","https://openalex.org/W3031039437","https://openalex.org/W183202219","https://openalex.org/W3095877357","https://openalex.org/W2072565696","https://openalex.org/W2050451745","https://openalex.org/W2378903222"],"abstract_inverted_index":{"Monocular":[0],"visual":[1,48],"inertial":[2],"odometry":[3],"(VIO)":[4],"has":[5],"facilitated":[6],"a":[7,77],"wide":[8],"range":[9],"of":[10,20,46,102],"real-time":[11,144],"motion":[12,63],"tracking":[13],"applications,":[14],"thanks":[15],"to":[16,98,122],"the":[17,21,33,44,84,99,138],"small":[18],"size":[19],"sensor":[22],"suite":[23],"and":[24,65,104],"low":[25],"power":[26],"consumption.":[27],"To":[28,69,111],"successfully":[29],"bootstrap":[30],"VIO":[31,139],"algorithms,":[32],"initialization":[34,40,79,140],"module":[35],"is":[36],"extremely":[37],"important.":[38],"Most":[39],"methods":[41,52],"rely":[42],"on":[43,130],"reconstruction":[45],"3D":[47,66,89],"point":[49],"clouds.":[50],"These":[51],"suffer":[53],"from":[54],"high":[55],"computational":[56],"cost":[57],"as":[58,106,108],"state":[59,86],"vector":[60],"contains":[61],"both":[62],"states":[64],"feature":[67],"points.":[68],"address":[70],"this":[71,92],"issue,":[72],"some":[73],"researchers":[74],"recently":[75],"proposed":[76],"structureless":[78,118,126],"method,":[80],"which":[81],"can":[82],"solve":[83],"initial":[85],"without":[87],"recovering":[88],"structure.":[90],"However,":[91],"method":[93,135],"potentially":[94],"compromises":[95],"performance":[96],"due":[97],"decoupled":[100],"estimation":[101],"rotation":[103],"translation,":[105],"well":[107],"linear":[109],"constraints.":[110],"improve":[112],"its":[113],"accuracy,":[114,141],"we":[115],"propose":[116],"novel":[117],"visual-inertial":[119],"bundle":[120],"adjustment":[121],"further":[123],"refine":[124],"previous":[125],"solution.":[127],"Extensive":[128],"experiments":[129],"real-world":[131],"datasets":[132],"show":[133],"our":[134],"significantly":[136],"improves":[137],"while":[142],"maintaining":[143],"performance.":[145]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
