{"id":"https://openalex.org/W2909157769","doi":"https://doi.org/10.1109/iros.2018.8593941","title":"A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry","display_name":"A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909157769","doi":"https://doi.org/10.1109/iros.2018.8593941","mag":"2909157769"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593941","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066625676","display_name":"Zichao Zhang","orcid":"https://orcid.org/0000-0002-6526-0706"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Zichao Zhang","raw_affiliation_strings":["Robotics and Perception Group, University of Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I202697423"],"apc_list":null,"apc_paid":null,"fwci":179.5973,"has_fulltext":false,"cited_by_count":658,"citation_normalized_percentile":{"value":0.99984843,"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":"7244","last_page":"7251"},"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":0.9991000294685364,"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":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7644189596176147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.759329080581665},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7547585964202881},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6600288152694702},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.6572033166885376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6181327700614929},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6159409880638123},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.589931845664978},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.5646405816078186},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4461202323436737},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4370204210281372},{"id":"https://openalex.org/keywords/strengths-and-weaknesses","display_name":"Strengths and weaknesses","score":0.4191129207611084},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21155595779418945},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08372804522514343}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7644189596176147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.759329080581665},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7547585964202881},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6600288152694702},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.6572033166885376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6181327700614929},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6159409880638123},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.589931845664978},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.5646405816078186},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4461202323436737},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4370204210281372},{"id":"https://openalex.org/C63882131","wikidata":"https://www.wikidata.org/wiki/Q17122954","display_name":"Strengths and weaknesses","level":2,"score":0.4191129207611084},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21155595779418945},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08372804522514343},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2018.8593941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593941","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.zora.uzh.ch:175991","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Zhang, Zichao; Scaramuzza, Davide (2018). A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 1 November 2018 - 5 November 2018. IEEE, 7244-7251.","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:infoscience.epfl.ch:271842","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271842","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},{"id":"doi:10.5167/uzh-175991","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-175991","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:175991","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Zhang, Zichao; Scaramuzza, Davide (2018). A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 1 November 2018 - 5 November 2018. IEEE, 7244-7251.","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1981699551","https://openalex.org/W2021851106","https://openalex.org/W2049479307","https://openalex.org/W2104497032","https://openalex.org/W2128019145","https://openalex.org/W2147536420","https://openalex.org/W2150066425","https://openalex.org/W2295255295","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2564632156","https://openalex.org/W2745859992","https://openalex.org/W2802604668","https://openalex.org/W3021674389","https://openalex.org/W3103648783","https://openalex.org/W3125449081","https://openalex.org/W6721610202","https://openalex.org/W6776408519"],"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/W4312703710","https://openalex.org/W208888162"],"abstract_inverted_index":{"In":[0],"this":[1,115],"tutorial,":[2],"we":[3,32,57,88,105],"provide":[4],"principled":[5],"methods":[6,112],"to":[7,35,40,85,93],"quantitatively":[8],"evaluate":[9],"the":[10,22,26,37,47,64,69,79,100,111],"quality":[11],"of":[12,24,28,102,110],"an":[13],"estimated":[14],"trajectory":[15,43,66],"from":[16],"visual(-inertial)":[17],"odometry":[18],"(VO/VIO),":[19],"which":[20],"is":[21],"foundation":[23],"benchmarking":[25],"accuracy":[27],"different":[29],"algorithms.":[30],"First,":[31],"show":[33],"how":[34],"determine":[36],"transformation":[38],"type":[39],"use":[41],"in":[42,114],"alignment":[44],"based":[45],"on":[46],"specific":[48],"sensing":[49,96],"modality":[50],"(i.e.,":[51,63],"monocular,":[52],"stereo":[53],"and":[54,68,72,75],"visual-inertial).":[55],"Second,":[56],"describe":[58],"commonly":[59],"used":[60],"error":[61,67],"metrics":[62],"absolute":[65],"relative":[70],"error)":[71],"their":[73],"strengths":[74],"weaknesses.":[76],"To":[77,98],"make":[78],"methodology":[80],"presented":[81],"for":[82],"VO/VIO":[83],"applicable":[84],"other":[86],"setups,":[87],"also":[89],"generalize":[90],"our":[91,108],"formulation":[92],"any":[94],"given":[95],"modality.":[97],"facilitate":[99],"reproducibility":[101],"related":[103],"research,":[104],"publicly":[106],"release":[107],"implementation":[109],"described":[113],"tutorial.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":101},{"year":2024,"cited_by_count":109},{"year":2023,"cited_by_count":122},{"year":2022,"cited_by_count":97},{"year":2021,"cited_by_count":100},{"year":2020,"cited_by_count":76},{"year":2019,"cited_by_count":40},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
