{"id":"https://openalex.org/W2204575239","doi":"https://doi.org/10.1109/iros.2015.7353802","title":"Real-time visual-inertial localization for aerial and ground robots","display_name":"Real-time visual-inertial localization for aerial and ground robots","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2204575239","doi":"https://doi.org/10.1109/iros.2015.7353802","mag":"2204575239"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5050090757","display_name":"Helen Oleynikova","orcid":"https://orcid.org/0000-0002-1831-2315"},"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":"Helen Oleynikova","raw_affiliation_strings":["Autonomous Systemsm, ETH, Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systemsm, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012356005","display_name":"Michael Burri","orcid":"https://orcid.org/0000-0002-4540-2519"},"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":"Michael Burri","raw_affiliation_strings":["Autonomous Systemsm, ETH, Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systemsm, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031067680","display_name":"Simon Lynen","orcid":"https://orcid.org/0000-0002-6421-541X"},"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":"Simon Lynen","raw_affiliation_strings":["Autonomous Systemsm, ETH, Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systemsm, ETH, Z\u00fcrich","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 Systemsm, ETH, Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systemsm, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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/odometry","display_name":"Odometry","score":0.8260089755058289},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.715083122253418},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7129099369049072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6655548810958862},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6520299911499023},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5975370407104492},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5520565509796143},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5404973030090332},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.505896270275116},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4643248915672302},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.46105968952178955},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4267127811908722},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3880349397659302},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0751497745513916}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8260089755058289},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.715083122253418},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7129099369049072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6655548810958862},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6520299911499023},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5975370407104492},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5520565509796143},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5404973030090332},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.505896270275116},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4643248915672302},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.46105968952178955},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4267127811908722},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3880349397659302},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0751497745513916},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W153084048","https://openalex.org/W1521470386","https://openalex.org/W1552672384","https://openalex.org/W1583132079","https://openalex.org/W1942294243","https://openalex.org/W1971812294","https://openalex.org/W1974222962","https://openalex.org/W1990101796","https://openalex.org/W2021542322","https://openalex.org/W2024676408","https://openalex.org/W2035455072","https://openalex.org/W2037971631","https://openalex.org/W2050145531","https://openalex.org/W2061319289","https://openalex.org/W2063053370","https://openalex.org/W2118223742","https://openalex.org/W2133844819","https://openalex.org/W2166721300","https://openalex.org/W2170647363","https://openalex.org/W2268461703","https://openalex.org/W2278591674","https://openalex.org/W4241431727","https://openalex.org/W6606277630","https://openalex.org/W6631059785","https://openalex.org/W6633172363","https://openalex.org/W6677871018","https://openalex.org/W6693619324"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Localization":[0],"is":[1],"essential":[2],"for":[3,9,73,134],"robots":[4,106],"to":[5,18,21,83,109,117,121],"operate":[6],"autonomously,":[7],"especially":[8],"extended":[10],"periods":[11],"of":[12,125],"time,":[13],"when":[14],"estimator":[15],"drift":[16,80],"tends":[17],"destroy":[19],"alignment":[20,82],"any":[22],"global":[23,85],"map.":[24],"Though":[25],"there":[26],"has":[27],"been":[28,46],"extensive":[29,132],"work":[30],"in":[31,34,51,145],"vision-based":[32],"localization":[33,62,91],"recent":[35],"years,":[36],"including":[37],"several":[38],"systems":[39],"that":[40,64],"show":[41],"real-time":[42,61],"performance,":[43],"none":[44],"have":[45],"demonstrated":[47],"running":[48],"entirely":[49,93],"on-board":[50,94],"closed":[52],"loop":[53],"on":[54,123,139],"robotic":[55],"platforms.":[56],"We":[57,88,129],"propose":[58],"a":[59,84,101],"fast,":[60],"system":[63,92,138],"keeps":[65],"the":[66,112,119,126,135],"existing":[67],"local":[68],"visual-inertial":[69],"odometry":[70],"frame":[71],"consistent":[72],"controllers":[74],"and":[75,81,97],"collision":[76],"avoidance,":[77],"while":[78],"correcting":[79],"coordinate":[86],"frame.":[87],"demonstrate":[89],"our":[90],"an":[95,146],"aerial":[96],"ground":[98,127],"robot,":[99],"showing":[100],"collaboration":[102],"experiment":[103],"where":[104],"both":[105],"are":[107],"able":[108],"localize":[110],"against":[111],"same":[113],"map":[114],"accurately":[115],"enough":[116],"allow":[118],"multicopter":[120],"land":[122],"top":[124],"robot.":[128],"also":[130],"perform":[131],"evaluations":[133],"proposed":[136],"closed-loop":[137],"ground-truth":[140],"datasets":[141],"from":[142],"MAV":[143],"flight":[144],"industrial":[147],"setting.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
