{"id":"https://openalex.org/W2114125542","doi":"https://doi.org/10.1109/iros.2009.5354267","title":"Efficient integration of inertial observations into visual SLAM without initialization","display_name":"Efficient integration of inertial observations into visual SLAM without initialization","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2114125542","doi":"https://doi.org/10.1109/iros.2009.5354267","mag":"2114125542"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5005469652","display_name":"Todd Lupton","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Todd Lupton","raw_affiliation_strings":["ARC Centre for Excellence in Autonomous Systems, Australian Centre for Field Robotics, University of Sydney, Australia","ARC Centre for Excellence in Autonomous Systems, Australian Centre for Field Robotics, University of Sydney, Australia#TAB#"],"affiliations":[{"raw_affiliation_string":"ARC Centre for Excellence in Autonomous Systems, Australian Centre for Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"ARC Centre for Excellence in Autonomous Systems, Australian Centre for Field Robotics, University of Sydney, Australia#TAB#","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004268965","display_name":"Salah Sukkarieh","orcid":"https://orcid.org/0000-0003-1173-9268"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Salah Sukkarieh","raw_affiliation_strings":["ARC Centre for Excellence in Autonomous Systems, Australian Centre for Field Robotics, University of Sydney, Australia","ARC Centre for Excellence in Autonomous Systems, Australian Centre for Field Robotics, University of Sydney, Australia#TAB#"],"affiliations":[{"raw_affiliation_string":"ARC Centre for Excellence in Autonomous Systems, Australian Centre for Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"ARC Centre for Excellence in Autonomous Systems, Australian Centre for Field Robotics, University of Sydney, Australia#TAB#","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005469652"],"corresponding_institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":7.6465,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.96701575,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1547","last_page":"1552"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9965000152587891,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9951000213623047,"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/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.7435162663459778},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7139532566070557},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6682553887367249},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.642679750919342},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6116676330566406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5880622863769531},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5656746029853821},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5281955003738403},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4964147210121155},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4838351309299469},{"id":"https://openalex.org/keywords/inertial-reference-unit","display_name":"Inertial reference unit","score":0.4181721806526184},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.384944885969162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3323360085487366},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20449885725975037},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15871453285217285},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08697736263275146}],"concepts":[{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.7435162663459778},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7139532566070557},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6682553887367249},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.642679750919342},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6116676330566406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5880622863769531},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5656746029853821},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5281955003738403},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4964147210121155},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4838351309299469},{"id":"https://openalex.org/C189096121","wikidata":"https://www.wikidata.org/wiki/Q6028512","display_name":"Inertial reference unit","level":4,"score":0.4181721806526184},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.384944885969162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3323360085487366},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20449885725975037},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15871453285217285},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08697736263275146},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323141","display_name":"Australian Centre for Field Robotics","ror":"https://ror.org/0384j8v12"},{"id":"https://openalex.org/F4320331430","display_name":"New South Wales Government","ror":"https://ror.org/0067dvq63"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1536303072","https://openalex.org/W1564768010","https://openalex.org/W1583045688","https://openalex.org/W1964117447","https://openalex.org/W2020054776","https://openalex.org/W2160537734","https://openalex.org/W2183475719","https://openalex.org/W2273640963","https://openalex.org/W4285719527","https://openalex.org/W6632092032","https://openalex.org/W6635137433","https://openalex.org/W6694559328"],"related_works":["https://openalex.org/W2619767547","https://openalex.org/W4247347568","https://openalex.org/W23037264","https://openalex.org/W4300961947","https://openalex.org/W2024124515","https://openalex.org/W4250716077","https://openalex.org/W2374423985","https://openalex.org/W2782016042","https://openalex.org/W2415234998","https://openalex.org/W2942773919"],"abstract_inverted_index":{"The":[0,19],"use":[1,98],"of":[2,21,65,99,108,121,131,141,163],"accelerometer":[3],"and":[4,43,60,97,106,117,119,128],"gyro":[5],"observations":[6,33,59,78,101],"in":[7,15,53],"a":[8,70,92,152],"visual":[9],"SLAM":[10],"implementation":[11,157],"is":[12,24,134,145],"beneficial":[13],"especially":[14],"high":[16,27,37,75],"dynamic":[17],"situations.":[18],"downside":[20],"using":[22,151],"inertial":[23,58,77,100],"that":[25],"traditionally":[26],"prediction":[28,95],"rates":[29],"are":[30,34,111,149],"required":[31],"as":[32,178],"provided":[35,135],"at":[36,50],"sample":[38],"rates.":[39],"An":[40,139],"accurate":[41],"orientation":[42,85],"velocity":[44,87,105,116],"estimate":[45,130,140],"must":[46],"also":[47,146],"be":[48,169],"maintained":[49],"all":[51],"times":[52],"order":[54],"to":[55,72,160,171],"integrate":[56],"the":[57,63,74,80,103,109,114,122,137,142,161,164],"correct":[61],"for":[62,82,91],"effect":[64],"gravity.":[66],"This":[67,89],"paper":[68],"presents":[69],"way":[71],"pre-integrate":[73],"rate":[76,96],"without":[79],"need":[81],"an":[83,129],"initial":[84,104,115],"or":[86],"estimate.":[88],"allows":[90],"slower":[93],"filter":[94,174],"when":[102],"attitude":[107],"platform":[110,123],"unknown.":[112],"Additionally":[113],"roll":[118],"pitch":[120],"become":[124],"observable":[125],"over":[126],"time":[127],"these":[132],"values":[133],"by":[136],"filter.":[138],"gravity":[143],"vector":[144],"provided.":[147],"Results":[148],"presented":[150],"delayed":[153],"state":[154],"information":[155],"smoother":[156],"however":[158],"due":[159],"linearity":[162],"equations":[165],"this":[166],"technique":[167],"can":[168],"applied":[170],"extended":[172],"Kalman":[173],"(EKF)":[175],"implementations":[176],"just":[177],"easily.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}