{"id":"https://openalex.org/W4401416960","doi":"https://doi.org/10.1109/icra57147.2024.10611182","title":"Dual-IMU State Estimation for Relative Localization of Two Mobile Agents","display_name":"Dual-IMU State Estimation for Relative Localization of Two Mobile Agents","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416960","doi":"https://doi.org/10.1109/icra57147.2024.10611182"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611182","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":"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/A5113136447","display_name":"Wenqian Lai","orcid":"https://orcid.org/0009-0008-3454-2365"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wenqian Lai","raw_affiliation_strings":["XREAL, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"XREAL, Inc","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085899519","display_name":"Ruonan Guo","orcid":"https://orcid.org/0000-0002-6571-8684"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruonan Guo","raw_affiliation_strings":["XREAL, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"XREAL, Inc","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113841085","display_name":"Kejian J. Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kejian J. Wu","raw_affiliation_strings":["XREAL, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"XREAL, Inc","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":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11927","last_page":"11933"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9975000023841858,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7581712007522583},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6126693487167358},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6101195812225342},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44761380553245544},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.43301352858543396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36736494302749634},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3520553708076477},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13325652480125427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12165158987045288}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7581712007522583},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6126693487167358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6101195812225342},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44761380553245544},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.43301352858543396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36736494302749634},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3520553708076477},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13325652480125427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12165158987045288},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611182","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1558470758","https://openalex.org/W1564768010","https://openalex.org/W1570939900","https://openalex.org/W1968663009","https://openalex.org/W2011897632","https://openalex.org/W2027055074","https://openalex.org/W2051349034","https://openalex.org/W2054289217","https://openalex.org/W2057160113","https://openalex.org/W2064933349","https://openalex.org/W2118223742","https://openalex.org/W2121461705","https://openalex.org/W2128832103","https://openalex.org/W2138890480","https://openalex.org/W2140998418","https://openalex.org/W2153054365","https://openalex.org/W2156184190","https://openalex.org/W2169019915","https://openalex.org/W2321847991","https://openalex.org/W2593712938","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2768018028","https://openalex.org/W2888952800","https://openalex.org/W2907933290","https://openalex.org/W2968489055","https://openalex.org/W2977982730","https://openalex.org/W3034695603","https://openalex.org/W3043971245","https://openalex.org/W3129245057","https://openalex.org/W4210423514","https://openalex.org/W4302376753","https://openalex.org/W4389667260","https://openalex.org/W4401416960","https://openalex.org/W6745830181"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2742744817","https://openalex.org/W3202472720","https://openalex.org/W2393010104"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,15,50,73,97],"address":[4],"the":[5,17,47,52,63,70,76,80,86,108,114,133],"problem":[6],"of":[7,10,46,56,65,69,123],"relative":[8,30,121],"localization":[9,122],"two":[11],"mobile":[12],"agents.":[13],"Specifically,":[14],"consider":[16],"Dual-IMU":[18],"system,":[19,72],"where":[20],"each":[21],"agent":[22],"is":[23,116],"equipped":[24],"with":[25,126],"one":[26],"IMU,":[27],"and":[28,43,85,103,111],"employs":[29],"pose":[31],"observations":[32],"between":[33],"them.":[34],"Previous":[35],"works,":[36],"however,":[37],"typically":[38],"assumed":[39],"known":[40],"ego":[41],"motion":[42,84],"ignored":[44],"biases":[45,58],"IMUs.":[48,61],"Instead,":[49],"study":[51],"most":[53],"general":[54,83],"case":[55],"unknown":[57],"for":[59,79],"both":[60],"Besides":[62],"derivation":[64],"dynamic":[66],"model":[67],"equations":[68],"proposed":[71],"focus":[74],"on":[75,107],"observability":[77,81,101],"analysis,":[78],"under":[82],"unobservable":[87],"directions":[88],"arising":[89],"from":[90],"various":[91],"special":[92],"motions.":[93],"Through":[94],"numerical":[95],"simulations,":[96],"validate":[98],"our":[99],"key":[100],"findings":[102],"examine":[104],"their":[105],"impact":[106],"estimation":[109],"accuracy":[110],"consistency.":[112],"Finally,":[113],"system":[115],"implemented":[117],"to":[118,128],"achieve":[119],"effective":[120],"an":[124],"HMD":[125],"respect":[127],"a":[129],"vehicle":[130],"moving":[131],"in":[132],"real":[134],"world.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
