{"id":"https://openalex.org/W2774603347","doi":"https://doi.org/10.1109/iros.2017.8206582","title":"Edge-based visual-inertial odometry","display_name":"Edge-based visual-inertial odometry","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774603347","doi":"https://doi.org/10.1109/iros.2017.8206582","mag":"2774603347"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5101810136","display_name":"Hongsheng Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hongsheng Yu","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of California, Riverside"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of California, Riverside","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089122650","display_name":"Anastasios I. Mourikis","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anastasios I. Mourikis","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of California, Riverside"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of California, Riverside","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101810136"],"corresponding_institution_ids":["https://openalex.org/I103635307"],"apc_list":null,"apc_paid":null,"fwci":2.7219,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91159343,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"abs 1607 2565","issue":null,"first_page":"6670","last_page":"6677"},"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":0.9998000264167786,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9987999796867371,"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":0.8022222518920898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7746789455413818},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7405825853347778},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7233753204345703},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6240463256835938},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6131270527839661},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5758870840072632},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4802696704864502},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4599340260028839},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45785367488861084},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.45127975940704346},{"id":"https://openalex.org/keywords/image-gradient","display_name":"Image gradient","score":0.44530126452445984},{"id":"https://openalex.org/keywords/edge-detection","display_name":"Edge detection","score":0.366426557302475},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.36506223678588867},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2912869155406952},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2284797728061676},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.2267945110797882},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13316193222999573},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09835976362228394}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8022222518920898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7746789455413818},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7405825853347778},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7233753204345703},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6240463256835938},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6131270527839661},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5758870840072632},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4802696704864502},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4599340260028839},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45785367488861084},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.45127975940704346},{"id":"https://openalex.org/C182037307","wikidata":"https://www.wikidata.org/wiki/Q17039097","display_name":"Image gradient","level":5,"score":0.44530126452445984},{"id":"https://openalex.org/C193536780","wikidata":"https://www.wikidata.org/wiki/Q1513153","display_name":"Edge detection","level":4,"score":0.366426557302475},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.36506223678588867},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2912869155406952},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2284797728061676},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2267945110797882},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13316193222999573},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09835976362228394},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W36923225","https://openalex.org/W100961179","https://openalex.org/W612478963","https://openalex.org/W1531532259","https://openalex.org/W1643815198","https://openalex.org/W1661995841","https://openalex.org/W1970504153","https://openalex.org/W1980720386","https://openalex.org/W1984608086","https://openalex.org/W2022088451","https://openalex.org/W2055904838","https://openalex.org/W2056358962","https://openalex.org/W2059470495","https://openalex.org/W2061669523","https://openalex.org/W2086325065","https://openalex.org/W2108134361","https://openalex.org/W2113511941","https://openalex.org/W2118223742","https://openalex.org/W2130103520","https://openalex.org/W2140599684","https://openalex.org/W2141473805","https://openalex.org/W2145023731","https://openalex.org/W2147885662","https://openalex.org/W2148202683","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2152575911","https://openalex.org/W2170282673","https://openalex.org/W2198628454","https://openalex.org/W2206962248","https://openalex.org/W2215578878","https://openalex.org/W2219105331","https://openalex.org/W2410084394","https://openalex.org/W2411412724","https://openalex.org/W2474281075","https://openalex.org/W3108793894","https://openalex.org/W6604152841","https://openalex.org/W6618872416","https://openalex.org/W6679388247"],"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/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"In":[0,17],"this":[1],"paper":[2],"we":[3,89],"propose":[4,90],"a":[5],"method":[6,25],"for":[7,93],"monocular":[8],"visual-inertial":[9,132],"odometry":[10,133],"that":[11,96,126],"utilizes":[12],"image":[13,51,80,109],"edges":[14],"as":[15,116,118],"measurements.":[16],"contrast":[18,63],"to":[19,57,64,75,131],"previous":[20],"feature-based":[21],"approaches,":[22,67],"the":[23,32,35,68,79,94,105,108,127,138],"proposed":[24,69,128],"does":[26,39],"not":[27,40],"employ":[28],"any":[29],"assumption":[30],"on":[31],"geometry":[33],"of":[34,107],"scene":[36],"(e.g.,":[37],"it":[38],"assume":[41],"straight":[42],"lines).":[43],"It":[44],"can":[45,99],"thus":[46],"use":[47],"measurements":[48],"from":[49,120],"all":[50],"areas":[52],"with":[53],"significant":[54],"gradient,":[55],"similarly":[56],"direct":[58,65],"semi-dense":[59,66],"methods.":[60],"However,":[61],"in":[62,78,104],"method's":[70],"measurement":[71,87],"model":[72,88],"is":[73,134],"invariant":[74],"linear":[76],"changes":[77],"intensity.":[81],"The":[82],"novel":[83],"edge":[84,97],"parameterization":[85],"and":[86,136],"explicitly":[91],"account":[92],"fact":[95],"points":[98],"only":[100],"provide":[101],"useful":[102],"information":[103],"direction":[106],"gradient.":[110],"We":[111],"present":[112],"both":[113],"Monte-Carlo":[114],"simulations,":[115],"well":[117],"results":[119],"real-world":[121],"experimental":[122],"testing,":[123],"which":[124],"demonstrate":[125],"edge-based":[129],"approach":[130],"consistent,":[135],"outperforms":[137],"point-based":[139],"one.":[140]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}