{"id":"https://openalex.org/W4401413880","doi":"https://doi.org/10.1109/icra57147.2024.10610051","title":"NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System","display_name":"NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413880","doi":"https://doi.org/10.1109/icra57147.2024.10610051"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5086780394","display_name":"Saimouli Katragadda","orcid":null},"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":"Saimouli Katragadda","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,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,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,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,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,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,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,19716","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083244193","display_name":"C. Chen","orcid":"https://orcid.org/0000-0001-6903-6405"},"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,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,19716","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100767018","display_name":"Chao Guo","orcid":"https://orcid.org/0000-0003-2610-9613"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chao Guo","raw_affiliation_strings":["Google,Mountain View,CA,94043"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google,Mountain View,CA,94043","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100443411","display_name":"Mingyang Li","orcid":"https://orcid.org/0000-0002-1854-3076"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingyang Li","raw_affiliation_strings":["Google,Mountain View,CA,94043"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google,Mountain View,CA,94043","institution_ids":["https://openalex.org/I1291425158"]}]},{"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,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware,Newark,DE,19716","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":24.0444,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.99315283,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"10230","last_page":"10237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9933000206947327,"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":0.9933000206947327,"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":0.9912999868392944,"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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9824000000953674,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/radiance","display_name":"Radiance","score":0.8333673477172852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7103648781776428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5828530192375183},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5766884088516235},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5089833736419678},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.45032185316085815},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.44625502824783325},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.43802279233932495},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.22187337279319763},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13724613189697266},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0944620668888092},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.05225014686584473}],"concepts":[{"id":"https://openalex.org/C23690007","wikidata":"https://www.wikidata.org/wiki/Q1411145","display_name":"Radiance","level":2,"score":0.8333673477172852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7103648781776428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5828530192375183},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5766884088516235},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5089833736419678},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.45032185316085815},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.44625502824783325},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.43802279233932495},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.22187337279319763},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13724613189697266},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0944620668888092},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.05225014686584473},{"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308928","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82"},{"id":"https://openalex.org/F4320309327","display_name":"Google","ror":"https://ror.org/00njsd438"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W605763459","https://openalex.org/W612478963","https://openalex.org/W1970504153","https://openalex.org/W1989484209","https://openalex.org/W2021542322","https://openalex.org/W2048710758","https://openalex.org/W2057749491","https://openalex.org/W2091790851","https://openalex.org/W2110794641","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2129000642","https://openalex.org/W2130017587","https://openalex.org/W2141584146","https://openalex.org/W2151290401","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2278591674","https://openalex.org/W2471962767","https://openalex.org/W2503339013","https://openalex.org/W2519683295","https://openalex.org/W2522940611","https://openalex.org/W2586572282","https://openalex.org/W2605111497","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2770176163","https://openalex.org/W2780675120","https://openalex.org/W2909157769","https://openalex.org/W2909510745","https://openalex.org/W2913429812","https://openalex.org/W2951019013","https://openalex.org/W2962705366","https://openalex.org/W2968489055","https://openalex.org/W2968784647","https://openalex.org/W2982101479","https://openalex.org/W3043075211","https://openalex.org/W3091667825","https://openalex.org/W3105489439","https://openalex.org/W3109585842","https://openalex.org/W3112108866","https://openalex.org/W3130983693","https://openalex.org/W4210985923","https://openalex.org/W4214564845","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4246614213","https://openalex.org/W4285102285","https://openalex.org/W4287704666","https://openalex.org/W4312278272","https://openalex.org/W4312280420","https://openalex.org/W4312629830","https://openalex.org/W4312878643","https://openalex.org/W4366757421","https://openalex.org/W4383108876","https://openalex.org/W4383108921","https://openalex.org/W4383109324","https://openalex.org/W4385318467","https://openalex.org/W4386075959","https://openalex.org/W4386523681","https://openalex.org/W4389665446","https://openalex.org/W4390872507","https://openalex.org/W4394659040","https://openalex.org/W6781126431","https://openalex.org/W6790818473","https://openalex.org/W6803376173","https://openalex.org/W6856929834","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W2024124515","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W23037264","https://openalex.org/W2374423985","https://openalex.org/W2942773919","https://openalex.org/W2977244052","https://openalex.org/W2782016042"],"abstract_inverted_index":{"Achieving":[0],"efficient":[1,90,97],"and":[2,78,84,119],"consistent":[3],"localization":[4,34],"with":[5,101],"a":[6,42,131],"prior":[7,116],"map":[8,117],"remains":[9],"challenging":[10],"in":[11],"robotics.":[12],"Conventional":[13],"keyframe-based":[14,73],"approaches":[15],"often":[16],"suffer":[17],"from":[18],"sub-optimal":[19],"viewpoints":[20],"due":[21],"to":[22,61,123],"limited":[23,76],"field":[24],"of":[25,71],"view":[26],"(FOV)":[27],"and/or":[28],"constrained":[29],"motion,":[30],"thus":[31],"degrading":[32],"the":[33,58,65,69,107,111],"performance.":[35],"To":[36],"address":[37],"this":[38],"issue,":[39],"we":[40],"design":[41],"real-time":[43,125],"tightly-coupled":[44,94],"Neural":[45],"Radiance":[46],"Fields":[47],"(NeRF)-aided":[48],"visual-inertial":[49],"navigation":[50],"system":[51],"(VINS).":[52],"In":[53],"particular,":[54],"by":[55],"effectively":[56],"leveraging":[57],"NeRF\u2019s":[59],"potential":[60],"synthesize":[62],"novel":[63],"views,":[64],"proposed":[66,108],"NeRF-VINS":[67,109],"overcomes":[68],"limitations":[70],"traditional":[72],"maps":[74],"(with":[75],"views)":[77],"optimally":[79],"fuses":[80],"IMU,":[81],"monocular":[82],"images,":[83],"synthetically":[85],"rendered":[86],"images":[87],"within":[88],"an":[89],"filter-based":[91],"framework.":[92],"This":[93],"fusion":[95],"enables":[96],"3D":[98],"motion":[99],"tracking":[100],"bounded":[102],"errors.":[103],"We":[104],"extensively":[105],"validate":[106],"against":[110],"state-of-the-art":[112],"methods":[113],"that":[114],"use":[115],"information,":[118],"demonstrate":[120],"its":[121],"ability":[122],"perform":[124],"localization,":[126],"at":[127],"15":[128],"Hz,":[129],"on":[130],"resource-constrained":[132],"Jetson":[133],"AGX":[134],"Orin":[135],"embedded":[136],"platform.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
