{"id":"https://openalex.org/W2141570037","doi":"https://doi.org/10.1109/iros.2011.6095122","title":"Robust embedded egomotion estimation","display_name":"Robust embedded egomotion estimation","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2141570037","doi":"https://doi.org/10.1109/iros.2011.6095122","mag":"2141570037"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095122","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":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research-collection.ethz.ch/bitstream/20.500.11850/43142/1/eth-7672-01.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027231802","display_name":"Rainer Voigt","orcid":"https://orcid.org/0000-0002-8009-112X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rainer Voigt","raw_affiliation_strings":["Robotics, Systems and Control, Autonomous Systems Laboratory, Australia","Robotics, Systems and Control at the Autonomous Systems Lab, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Systems and Control, Autonomous Systems Laboratory, Australia","institution_ids":[]},{"raw_affiliation_string":"Robotics, Systems and Control at the Autonomous Systems Lab, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014863217","display_name":"Janosch Nikolic","orcid":"https://orcid.org/0000-0002-1073-9699"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Janosch Nikolic","raw_affiliation_strings":["Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","Autonomous Systems Lab, ETH Zurich, 8092, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, 8092, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018081000","display_name":"Christoph H\u00fcrzeler","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Christoph Hurzeler","raw_affiliation_strings":["Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","Autonomous Systems Lab, ETH Zurich, 8092, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, 8092, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075449650","display_name":"Stephan Wei\u00df","orcid":"https://orcid.org/0000-0001-6906-5409"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stephan Weiss","raw_affiliation_strings":["Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","Autonomous Systems Lab, ETH Zurich, 8092, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, 8092, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044711470","display_name":"Laurent Kneip","orcid":"https://orcid.org/0000-0001-6727-6608"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Laurent Kneip","raw_affiliation_strings":["Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","Autonomous Systems Lab, ETH Zurich, 8092, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, 8092, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","Autonomous Systems Lab, ETH Zurich, 8092, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, 8092, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":24.1505,"has_fulltext":true,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99782519,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"2694","last_page":"2699"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7615875005722046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.749531626701355},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6998162865638733},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6686728000640869},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5961984992027283},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5562347769737244},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.517143189907074},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.47217386960983276},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4182209372520447}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7615875005722046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.749531626701355},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6998162865638733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6686728000640869},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5961984992027283},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5562347769737244},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.517143189907074},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.47217386960983276},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4182209372520447},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2011.6095122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095122","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:www.research-collection.ethz.ch:20.500.11850/43142","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/43142","pdf_url":"https://www.research-collection.ethz.ch/bitstream/20.500.11850/43142/1/eth-7672-01.pdf","source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/72613","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/72613","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"Conference paper"},{"id":"doi:10.3929/ethz-a-010025272","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-a-010025272","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":"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:www.research-collection.ethz.ch:20.500.11850/43142","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/43142","pdf_url":"https://www.research-collection.ethz.ch/bitstream/20.500.11850/43142/1/eth-7672-01.pdf","source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2141570037.pdf","grobid_xml":"https://content.openalex.org/works/W2141570037.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W2006501475","https://openalex.org/W2085261163","https://openalex.org/W2087269417","https://openalex.org/W2088880814","https://openalex.org/W2096901547","https://openalex.org/W2098836126","https://openalex.org/W2099022116","https://openalex.org/W2121013842","https://openalex.org/W2134837751","https://openalex.org/W2155056756","https://openalex.org/W2293047233","https://openalex.org/W3144742656","https://openalex.org/W6601185777","https://openalex.org/W6629564929","https://openalex.org/W6631707545","https://openalex.org/W6675320002"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2089114113","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W9839718","https://openalex.org/W2385286892","https://openalex.org/W2350927655","https://openalex.org/W2162299404","https://openalex.org/W2103062922","https://openalex.org/W2382856674"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,25,108],"method":[4],"for":[5,74],"estimating":[6],"the":[7,67],"egomotion":[8],"of":[9],"an":[10,34,93,118],"aerial":[11],"vehicle":[12],"in":[13,24,30,59,81,92,99],"challenging":[14],"industrial":[15,94],"environments.":[16,86,102],"It":[17],"combines":[18],"binocular":[19],"visual":[20,53],"and":[21,28,43,61,78,83,90],"inertial":[22,50],"cues":[23],"tightly-coupled":[26],"fashion":[27],"operates":[29],"real":[31],"time":[32],"on":[33,49],"embedded":[35],"platform.":[36],"An":[37],"extended":[38],"Kalman":[39],"filter":[40],"fuses":[41],"measurements":[42,116],"makes":[44],"motion":[45],"estimation":[46],"rely":[47],"more":[48],"data":[51],"if":[52],"feature":[54],"constellation":[55],"is":[56,105],"degenerate.":[57],"Errors":[58],"roll":[60],"pitch":[62],"are":[63,72],"bounded":[64],"implicitly":[65],"by":[66,107],"gravity":[68],"vector.":[69],"Inertial":[70],"sensors":[71],"used":[73],"efficient":[75],"outlier":[76],"detection":[77],"enable":[79],"operation":[80],"poorly":[82],"repetitively":[84],"textured":[85],"We":[87],"demonstrate":[88],"robustness":[89],"accuracy":[91],"scenario":[95],"as":[96,98],"well":[97],"general":[100],"indoor":[101],"The":[103],"former":[104],"accompanied":[106],"detailed":[109],"performance":[110],"evaluation":[111],"supported":[112],"with":[113],"ground":[114],"truth":[115],"from":[117],"external":[119],"tracking":[120],"system.":[121]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":8}],"updated_date":"2026-08-25T07:29:55.448023","created_date":"2025-10-10T00:00:00"}