{"id":"https://openalex.org/W3003214269","doi":"https://doi.org/10.1109/iros40897.2019.8968285","title":"Accelerated Visual Inertial Navigation via Fragmented Structure Updates","display_name":"Accelerated Visual Inertial Navigation via Fragmented Structure Updates","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003214269","doi":"https://doi.org/10.1109/iros40897.2019.8968285","mag":"3003214269"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968285","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5079145733","display_name":"Yehonathan Litman","orcid":"https://orcid.org/0000-0003-1378-2921"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yehonathan Litman","raw_affiliation_strings":["Texas A&M University,Department of Computer Science","Department of Computer Science, Texas A&M University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Computer Science","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Computer Science, Texas A&M University","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100341470","display_name":"Ya Wang","orcid":"https://orcid.org/0000-0003-4353-4638"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ya Wang","raw_affiliation_strings":["Texas A&M University,Department of Mechanical Engineering","Department of Mechanical Engineering, Texas A&M University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100396338","display_name":"Ji Liu","orcid":"https://orcid.org/0000-0003-2871-9888"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ji Liu","raw_affiliation_strings":["Texas A&M University,Department of Electrical and Computer Engineering","Department of Electrical and Computer Engineering, Texas A&M University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Texas A&M University","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5358","last_page":"5363"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/computer-science","display_name":"Computer science","score":0.7975689172744751},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.7806391716003418},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.5286106467247009},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4923633337020874},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46924686431884766},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.46312081813812256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39647042751312256},{"id":"https://openalex.org/keywords/computer-engineering","display_name":"Computer engineering","score":0.37749719619750977},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3516562879085541},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29489827156066895},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.2044101357460022}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7975689172744751},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.7806391716003418},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.5286106467247009},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4923633337020874},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46924686431884766},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.46312081813812256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39647042751312256},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.37749719619750977},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3516562879085541},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29489827156066895},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2044101357460022},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968285","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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":37,"referenced_works":["https://openalex.org/W1484371059","https://openalex.org/W1570448133","https://openalex.org/W1643815198","https://openalex.org/W1968315983","https://openalex.org/W2011754354","https://openalex.org/W2027724697","https://openalex.org/W2044289071","https://openalex.org/W2049750053","https://openalex.org/W2056298239","https://openalex.org/W2056358962","https://openalex.org/W2064169939","https://openalex.org/W2091790851","https://openalex.org/W2110893883","https://openalex.org/W2127752689","https://openalex.org/W2137052305","https://openalex.org/W2216550548","https://openalex.org/W2396274919","https://openalex.org/W2411649036","https://openalex.org/W2482726005","https://openalex.org/W2565104410","https://openalex.org/W2592781794","https://openalex.org/W2754360834","https://openalex.org/W2798513908","https://openalex.org/W2802855124","https://openalex.org/W2806395994","https://openalex.org/W2909990436","https://openalex.org/W2962987986","https://openalex.org/W2963408729","https://openalex.org/W3104978629","https://openalex.org/W3125449081","https://openalex.org/W4246614213","https://openalex.org/W6629250111","https://openalex.org/W6661480243","https://openalex.org/W6663139161","https://openalex.org/W6744406120","https://openalex.org/W6751599230","https://openalex.org/W6764645707"],"related_works":["https://openalex.org/W2595172197","https://openalex.org/W2084856301","https://openalex.org/W2127970246","https://openalex.org/W2885125400","https://openalex.org/W1989889224","https://openalex.org/W4382618745","https://openalex.org/W1973775000","https://openalex.org/W2748922771","https://openalex.org/W2161045342","https://openalex.org/W2943002782"],"abstract_inverted_index":{"Tightly":[0],"coupled":[1],"Visual-Inertial":[2],"Navigation":[3],"System":[4],"(VINS)":[5],"implementations":[6],"have":[7],"proven":[8],"their":[9,13],"superiority":[10],"due":[11],"to":[12,15,144,176,187],"ability":[14],"jointly":[16],"optimize":[17],"all":[18],"state":[19,148],"variables.":[20],"However,":[21],"this":[22,49],"joint":[23],"optimization":[24,61,189],"is":[25,123],"considered":[26],"as":[27],"a":[28,53,70,90,99,137,157,168,198],"computational":[29,58,111,132],"bottleneck":[30],"within":[31],"the":[32,57,66,121,146,179],"system,":[33],"and":[34,86],"thus":[35],"many":[36],"traditional":[37],"VINS":[38],"can":[39,62],"only":[40,125,156,183],"be":[41,63],"implemented":[42],"on":[43,136,162,197],"platforms":[44],"containing":[45],"powerful":[46,200],"processors.":[47],"In":[48],"work,":[50],"we":[51,97],"show":[52],"significant":[54],"reduction":[55],"in":[56,117,149,185],"burden":[59],"of":[60,68,72,171],"achieved":[64],"through":[65],"use":[67,98],"fragments;":[69],"set":[71],"co-visible":[73],"feature":[74],"points":[75],"from":[76],"across":[77],"several":[78],"different":[79],"cameras":[80],"efficiently":[81],"split,":[82],"categorized":[83],"into":[84],"groups,":[85],"then":[87],"analyzed":[88],"using":[89,155],"machine-learning":[91],"inspired":[92],"frequent-pattern":[93],"growth":[94],"algorithm.":[95],"Furthermore,":[96],"reduced":[100],"continuous":[101],"representation":[102],"during":[103],"preintegration":[104],"for":[105],"better":[106],"accuracy":[107,196],"while":[108],"requiring":[109],"less":[110,131],"resources.":[112,133],"We":[113],"validate":[114],"our":[115,140,192],"algorithm":[116,193],"datasets,":[118],"showing":[119],"that":[120],"derivation":[122],"not":[124],"more":[126,199],"accurate,":[127],"but":[128,191],"requires":[129],"significantly":[130],"When":[134],"tested":[135],"Raspberry":[138,180],"Pi,":[139],"implementation":[141],"was":[142,182],"able":[143],"track":[145],"system's":[147],"nearly":[150],"20":[151],"frames":[152],"per":[153],"second":[154],"single":[158],"CPU":[159],"core.":[160],"Testing":[161],"another":[163],"low":[164],"power":[165,169],"module":[166],"shows":[167],"draw":[170],"around":[172],"800":[173],"mW.":[174],"Due":[175],"run-time":[177],"considerations":[178],"Pi":[181],"competitive":[184],"regards":[186],"other":[188],"methodologies,":[190],"displays":[194],"remarkable":[195],"platform.":[201]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}