{"id":"https://openalex.org/W2138566468","doi":"https://doi.org/10.1109/iros.2011.6095067","title":"Optimization based IMU camera calibration","display_name":"Optimization based IMU camera calibration","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2138566468","doi":"https://doi.org/10.1109/iros.2011.6095067","mag":"2138566468"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095067","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/doc/1287171/document.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083533986","display_name":"Michael Fleps-Dezasse","orcid":"https://orcid.org/0000-0002-3599-5517"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Michael Fleps","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute for Robotics and Mechatronics, German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082534208","display_name":"Elmar Mair","orcid":null},"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":"Elmar Mair","raw_affiliation_strings":["Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Department of Informatics, Technische Universitat M\u00fcnchen, Boltzmannstr. 3, 85748 Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technische Universitat M\u00fcnchen, Boltzmannstr. 3, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088598488","display_name":"Oliver Ruepp","orcid":null},"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":"Oliver Ruepp","raw_affiliation_strings":["Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Department of Informatics, Technische Universitat M\u00fcnchen, Boltzmannstr. 3, 85748 Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technische Universitat M\u00fcnchen, Boltzmannstr. 3, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010885481","display_name":"Michael Suppa","orcid":"https://orcid.org/0000-0002-7362-9534"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Suppa","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute for Robotics and Mechatronics, German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028614249","display_name":"Darius Burschka","orcid":"https://orcid.org/0000-0002-9866-0343"},"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":"Darius Burschka","raw_affiliation_strings":["Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Department of Informatics, Technische Universitat M\u00fcnchen, Boltzmannstr. 3, 85748 Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technische Universitat M\u00fcnchen, Boltzmannstr. 3, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5083533986"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":6.2694,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.97055493,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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":0.9998000264167786,"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/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/T10638","display_name":"Optical measurement and interference techniques","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7966911792755127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.765164852142334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7020002603530884},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7004557847976685},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6772366166114807},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5668228268623352},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5503985285758972},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47245123982429504},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4593086838722229},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1048366129398346}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7966911792755127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.765164852142334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7020002603530884},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7004557847976685},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6772366166114807},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5668228268623352},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5503985285758972},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47245123982429504},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4593086838722229},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1048366129398346},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2011.6095067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095067","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1287171","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1287171","pdf_url":"https://mediatum.ub.tum.de/doc/1287171/document.pdf","source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of 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:CiteSeerX.psu:10.1.1.666.1362","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.666.1362","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www6.in.tum.de/Main/Publications/mair2011a.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1287171","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1287171","pdf_url":"https://mediatum.ub.tum.de/doc/1287171/document.pdf","source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of 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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2138566468.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1555601014","https://openalex.org/W1990124658","https://openalex.org/W2033819227","https://openalex.org/W2073978338","https://openalex.org/W2089864408","https://openalex.org/W2094963988","https://openalex.org/W2102344727","https://openalex.org/W2111535872","https://openalex.org/W2121013842","https://openalex.org/W2128516964","https://openalex.org/W2140924050","https://openalex.org/W2148676238","https://openalex.org/W2150382645","https://openalex.org/W2162870748","https://openalex.org/W2166870098","https://openalex.org/W2503737069","https://openalex.org/W3029645440","https://openalex.org/W4236161336","https://openalex.org/W4293775970","https://openalex.org/W6647799080","https://openalex.org/W6658838613","https://openalex.org/W6676727942","https://openalex.org/W6842097421"],"related_works":["https://openalex.org/W2554858923","https://openalex.org/W2041767515","https://openalex.org/W2905226419","https://openalex.org/W4385574879","https://openalex.org/W4315750480","https://openalex.org/W2077888313","https://openalex.org/W2363924382","https://openalex.org/W2907109935","https://openalex.org/W3003695190","https://openalex.org/W4283270654"],"abstract_inverted_index":{"Inertia-visual":[0],"sensor":[1],"fusion":[2,27],"has":[3,48],"become":[4],"popular":[5],"due":[6,55],"to":[7,51,56,66,111,134,156],"the":[8,16,22,26,36,44,96,113,124],"complementary":[9],"characteristics":[10],"of":[11,28,30,58,98],"cameras":[12],"and":[13,18,61,93,127,136,147],"IMUs.":[14],"Once":[15],"spatial":[17,45],"temporal":[19],"alignment":[20],"between":[21],"sensors":[23],"is":[24,33,39,88],"known,":[25],"measurements":[29],"these":[31],"devices":[32],"straightforward.":[34],"Determining":[35],"alignment,":[37],"however,":[38],"a":[40,90,102,118],"challenging":[41],"problem.":[42,104],"Especially":[43],"translation":[46],"estimation":[47],"turned":[49],"out":[50],"be":[52],"difficult,":[53],"mainly":[54],"limitations":[57],"camera":[59],"dynamics":[60],"noisy":[62],"accelerometer":[63],"measurements.":[64],"Up":[65],"now,":[67],"filtering-based":[68],"approaches":[69],"for":[70],"this":[71,106,132],"calibration":[72,115],"problem":[73,116],"are":[74,79,142],"largely":[75],"prevalent.":[76],"However,":[77],"we":[78,94,108,128],"not":[80],"convinced":[81],"that":[82,151],"calibration,":[83],"as":[84,101],"an":[85],"offline":[86],"step,":[87],"necessarily":[89],"filtering":[91,135],"issue,":[92],"explore":[95],"benefits":[97],"interpreting":[99],"it":[100],"batch-optimization":[103],"To":[105],"end,":[107],"show":[109],"how":[110],"model":[112],"IMU-camera":[114],"in":[117],"nonlinear":[119],"optimization":[120],"framework":[121],"by":[122],"modeling":[123],"sensors'":[125],"trajectory,":[126],"present":[129],"experiments":[130],"comparing":[131],"approach":[133,153],"system":[137],"identification":[138],"techniques.":[139],"The":[140],"results":[141],"based":[143],"both":[144],"on":[145],"simulated":[146],"real":[148],"data,":[149],"showing":[150],"our":[152],"compares":[154],"favorably":[155],"conventional":[157],"methods.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
