{"id":"https://openalex.org/W2206962248","doi":"https://doi.org/10.1109/iros.2015.7354242","title":"Semi-direct EKF-based monocular visual-inertial odometry","display_name":"Semi-direct EKF-based monocular visual-inertial odometry","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2206962248","doi":"https://doi.org/10.1109/iros.2015.7354242","mag":"2206962248"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354242","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":"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/A5003006766","display_name":"Petri Tanskanen","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":true,"raw_author_name":"Petri Tanskanen","raw_affiliation_strings":["Department of Computer Science, Computer Vision and Geometry Group, ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Computer Vision and Geometry Group, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085551154","display_name":"Tobias Naegeli","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":"Tobias Naegeli","raw_affiliation_strings":["Department of Computer Science, Advanced Interactive Technologies Lab, ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Advanced Interactive Technologies Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021908609","display_name":"Marc Pollefeys","orcid":"https://orcid.org/0000-0003-2448-2318"},"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":"Marc Pollefeys","raw_affiliation_strings":["Department of Computer Science, Computer Vision and Geometry Group, ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Computer Vision and Geometry Group, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025000908","display_name":"Otmar Hilliges","orcid":"https://orcid.org/0000-0002-5068-3474"},"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":"Otmar Hilliges","raw_affiliation_strings":["Department of Computer Science, Advanced Interactive Technologies Lab, ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Advanced Interactive Technologies Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003006766"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":186.0396,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.99938835,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6073","last_page":"6078"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9975000023841858,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8208311796188354},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8009778261184692},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7841802835464478},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6803005933761597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.673981785774231},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.59694904088974},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4950465261936188},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.45490747690200806},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.45189785957336426},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4434041380882263},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.4306703805923462},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4254087209701538},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4196159243583679},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.41208183765411377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3006066083908081},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.23257696628570557},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.19203424453735352},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11734434962272644},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10170814394950867}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8208311796188354},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8009778261184692},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7841802835464478},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6803005933761597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.673981785774231},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.59694904088974},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4950465261936188},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.45490747690200806},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.45189785957336426},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4434041380882263},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.4306703805923462},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4254087209701538},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4196159243583679},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.41208183765411377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3006066083908081},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.23257696628570557},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.19203424453735352},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11734434962272644},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10170814394950867},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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":2,"locations":[{"id":"doi:10.1109/iros.2015.7354242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354242","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.707.5840","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.707.5840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.inf.ethz.ch/pomarc/pubs/TanskanenIROS15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308943","display_name":"Microsoft Research","ror":"https://ror.org/00d0nc645"},{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"},{"id":"https://openalex.org/F4320334701","display_name":"Joint Research Centre","ror":"https://ror.org/04j5wtv36"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W116077224","https://openalex.org/W1970504153","https://openalex.org/W1971625770","https://openalex.org/W1987648924","https://openalex.org/W1995985000","https://openalex.org/W2013503831","https://openalex.org/W2021930164","https://openalex.org/W2025572378","https://openalex.org/W2044233231","https://openalex.org/W2056358962","https://openalex.org/W2056898157","https://openalex.org/W2077751272","https://openalex.org/W2098860918","https://openalex.org/W2099940712","https://openalex.org/W2108134361","https://openalex.org/W2110794641","https://openalex.org/W2111589119","https://openalex.org/W2121017557","https://openalex.org/W2140599684","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2161471079","https://openalex.org/W2168004776","https://openalex.org/W2296147781","https://openalex.org/W3108793894","https://openalex.org/W4243425824"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4386821976","https://openalex.org/W3200674214"],"abstract_inverted_index":{"We":[0,61,128],"propose":[1],"a":[2,95],"novel":[3],"monocular":[4],"visual":[5],"inertial":[6,48,65],"odometry":[7],"algorithm":[8],"that":[9,47,90,141],"combines":[10],"the":[11,35,42,69,73,120,126],"advantages":[12],"of":[13,18,37,122],"EKF-based":[14],"approaches":[15],"with":[16],"those":[17],"direct":[19],"photometric":[20,38],"error":[21,39],"minimization":[22,36],"methods.":[23],"The":[24],"method":[25,143],"is":[26],"based":[27],"on":[28,94,119,145],"sparse,":[29],"very":[30],"small":[31],"patches":[32],"and":[33,50,64,79,98,102,116,132,139],"incorporates":[34],"directly":[40],"into":[41],"EKF":[43],"measurement":[44],"model":[45],"so":[46],"data":[49],"vision-based":[51,63],"surface":[52],"measurements":[53,66],"are":[54],"used":[55],"simultaneously":[56],"during":[57],"camera":[58,111],"pose":[59],"estimation.":[60],"fuse":[62],"almost":[67],"at":[68],"raw-sensor":[70],"level,":[71],"allowing":[72],"estimated":[74],"system":[75],"state":[76],"to":[77,109,136],"constrain":[78],"guide":[80],"image-space":[81],"measurements.":[82],"Our":[83],"formulation":[84],"allows":[85],"for":[86],"an":[87],"efficient":[88],"implementation":[89],"runs":[91],"in":[92,113,125],"real-time":[93],"standard":[96],"CPU":[97],"has":[99],"several":[100],"appealing":[101],"unique":[103],"characteristics":[104],"such":[105],"as":[106],"being":[107],"robust":[108,131],"fast":[110],"motion,":[112],"particular":[114],"rotation,":[115],"not":[117],"depending":[118],"presence":[121],"corner-like":[123],"features":[124],"scene.":[127],"experimentally":[129],"demonstrate":[130],"accurate":[133],"performance":[134],"compared":[135],"ground":[137],"truth":[138],"show":[140],"our":[142],"works":[144],"scenes":[146],"containing":[147],"only":[148],"non-intersecting":[149],"lines.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":6}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
