{"id":"https://openalex.org/W2032613843","doi":"https://doi.org/10.1109/ipin.2012.6418899","title":"On sensor pose parameterization for inertial aided visual SLAM","display_name":"On sensor pose parameterization for inertial aided visual SLAM","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2032613843","doi":"https://doi.org/10.1109/ipin.2012.6418899","mag":"2032613843"},"language":"en","primary_location":{"id":"doi:10.1109/ipin.2012.6418899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin.2012.6418899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publica.fraunhofer.de/documents/N-221271.html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061915792","display_name":"Markus Kleinert","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Kleinert","raw_affiliation_strings":["Fraunhofer IOSB, Ettlingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer IOSB, Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053008757","display_name":"Uwe Stilla","orcid":"https://orcid.org/0000-0002-1184-0924"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Uwe Stilla","raw_affiliation_strings":["Technische Universit\u00e4t M\u00fcnchen, Germany","Technische Universitat, Munchen, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technische Universitat, Munchen, Germany#TAB#","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.52564773,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7138258218765259},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6684720516204834},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6464085578918457},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.596017599105835},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5871275067329407},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5201668739318848},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5184352397918701},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.4994392395019531},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49205607175827026},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48681947588920593},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4863941967487335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4828360676765442},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.43912646174430847},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19513413310050964},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.17486831545829773},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17445573210716248}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7138258218765259},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6684720516204834},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6464085578918457},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.596017599105835},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5871275067329407},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5201668739318848},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5184352397918701},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.4994392395019531},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49205607175827026},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48681947588920593},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4863941967487335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4828360676765442},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.43912646174430847},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19513413310050964},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.17486831545829773},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17445573210716248},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/ipin.2012.6418899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin.2012.6418899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN)","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-221271","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-221271.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IOSB","raw_type":"Conference Paper"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1129408","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1129408","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/377155","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/377155","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},{"id":"doi:10.24406/publica-r-377155","is_oa":true,"landing_page_url":"https://doi.org/10.24406/publica-r-377155","pdf_url":null,"source":{"id":"https://openalex.org/S7407052912","display_name":"Fraunhofer-Gesellschaft zur F\u00f6rderung der angewandten Forschung e.V","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:fraunhofer.de:N-221271","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-221271.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IOSB","raw_type":"Conference Paper"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.550000011920929,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W304861154","https://openalex.org/W1502308290","https://openalex.org/W1531532259","https://openalex.org/W1557753015","https://openalex.org/W1564897360","https://openalex.org/W1565206031","https://openalex.org/W1632150706","https://openalex.org/W1872485792","https://openalex.org/W1970845222","https://openalex.org/W2018778695","https://openalex.org/W2039050554","https://openalex.org/W2055904838","https://openalex.org/W2111096969","https://openalex.org/W2111308925","https://openalex.org/W2113906280","https://openalex.org/W2153054365","https://openalex.org/W2154280780","https://openalex.org/W2625977009","https://openalex.org/W3149330788","https://openalex.org/W6633567737","https://openalex.org/W6639325027","https://openalex.org/W6739455049"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W2125871801","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W1585960250"],"abstract_inverted_index":{"When":[0],"appropriate":[1],"infrastructure":[2],"is":[3,14,26,37,93,99],"not":[4],"available,":[5],"localization":[6],"of":[7,55,63,69,111],"pedestrians":[8],"becomes":[9],"a":[10,40,45,74,80,152,155],"difficult":[11],"task.":[12],"This":[13],"especially":[15],"the":[16,51,61,67,70,85,108,121,126,135,142,146],"case":[17],"in":[18,47,87,96,120],"urban":[19],"or":[20,31],"indoor":[21,157],"scenarios,":[22],"where":[23],"satellite":[24],"navigation":[25],"hindered":[27],"due":[28],"to":[29,38,49,83,101],"occlusions":[30],"multipath":[32],"effects.":[33],"A":[34],"promising":[35],"alternative":[36,102],"combine":[39],"small,":[41],"low-cost":[42],"IMU":[43],"with":[44,73],"camera":[46],"order":[48],"exploit":[50],"complementary":[52],"error":[53,86],"characteristics":[54],"these":[56],"devices":[57],"by":[58,159],"simultaneously":[59],"estimating":[60],"positions":[62],"observed":[64],"landmarks":[65],"and":[66,89,129,154],"trajectory":[68],"sensor":[71],"system":[72],"stochastic":[75],"filter.":[76],"In":[77],"this":[78,124],"work,":[79],"standard":[81,143],"approach":[82],"parameterize":[84],"position":[88],"attitude":[90],"estimates":[91],"that":[92,104],"commonly":[94],"used":[95],"GNSS-INS":[97],"integration":[98],"compared":[100,150],"parameterizations":[103],"are":[105,132,149],"based":[106],"on":[107,151],"twist":[109,136],"representation":[110,137],"rigid":[112],"body":[113],"motions,":[114],"which":[115],"has":[116],"gained":[117],"increasing":[118],"popularity":[119],"literature.":[122],"For":[123],"purpose,":[125],"error-state":[127],"transition":[128],"measurement":[130],"equations":[131],"formulated":[133],"for":[134,141],"as":[138,140],"well":[139],"approach.":[144],"Finally,":[145],"different":[147],"approaches":[148],"simulated":[153],"real":[156],"dataset":[158],"applying":[160],"an":[161],"extended":[162],"Kalman":[163],"filter":[164],"(EKF).":[165]},"counts_by_year":[],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}