{"id":"https://openalex.org/W3130800379","doi":"https://doi.org/10.1109/iros45743.2020.9341161","title":"Visual-Inertial-Wheel Odometry with Online Calibration","display_name":"Visual-Inertial-Wheel Odometry with Online Calibration","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130800379","doi":"https://doi.org/10.1109/iros45743.2020.9341161","mag":"3130800379"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5070784376","display_name":"Woosik Lee","orcid":"https://orcid.org/0000-0003-4611-1999"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Woosik Lee","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041069558","display_name":"Kevin Eckenhoff","orcid":"https://orcid.org/0000-0001-6985-3210"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Eckenhoff","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101976414","display_name":"Yulin Yang","orcid":"https://orcid.org/0000-0002-9675-9147"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yulin Yang","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055849494","display_name":"Patrick Geneva","orcid":"https://orcid.org/0000-0002-2179-3447"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Geneva","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5070784376"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":40.8578,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.99534396,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4559","last_page":"4566"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9984999895095825,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8803597688674927},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7029860615730286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6315534710884094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6042726039886475},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6034072637557983},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.576202929019928},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5755335092544556},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.5307930111885071},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.5058779120445251},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5055203437805176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3124876022338867},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2609170973300934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.209212064743042},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1438932716846466},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14190107583999634}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8803597688674927},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7029860615730286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6315534710884094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6042726039886475},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6034072637557983},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.576202929019928},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5755335092544556},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5307930111885071},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.5058779120445251},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5055203437805176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3124876022338867},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2609170973300934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.209212064743042},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1438932716846466},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14190107583999634},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"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":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308928","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W166817922","https://openalex.org/W1484387568","https://openalex.org/W1554405069","https://openalex.org/W1968917201","https://openalex.org/W1998058414","https://openalex.org/W2027055074","https://openalex.org/W2027162577","https://openalex.org/W2046004590","https://openalex.org/W2048249748","https://openalex.org/W2051349034","https://openalex.org/W2062525513","https://openalex.org/W2065896478","https://openalex.org/W2077751272","https://openalex.org/W2091952720","https://openalex.org/W2102145772","https://openalex.org/W2104209067","https://openalex.org/W2118075573","https://openalex.org/W2118223742","https://openalex.org/W2152575911","https://openalex.org/W2158884168","https://openalex.org/W2161653443","https://openalex.org/W2164680368","https://openalex.org/W2325922889","https://openalex.org/W2735939237","https://openalex.org/W2736960679","https://openalex.org/W2739299828","https://openalex.org/W2746245458","https://openalex.org/W2887564721","https://openalex.org/W2908571003","https://openalex.org/W2909157769","https://openalex.org/W2909410687","https://openalex.org/W2909586669","https://openalex.org/W2937503962","https://openalex.org/W2938170127","https://openalex.org/W2968125992","https://openalex.org/W2968398091","https://openalex.org/W2968489055","https://openalex.org/W2968949928","https://openalex.org/W2976210016","https://openalex.org/W2980385299","https://openalex.org/W3003456500","https://openalex.org/W3090078497","https://openalex.org/W3091459796","https://openalex.org/W3091667825","https://openalex.org/W4295838614","https://openalex.org/W6606801450","https://openalex.org/W6633380995","https://openalex.org/W6743254713","https://openalex.org/W6761548879","https://openalex.org/W6770611196","https://openalex.org/W6784206762"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"In":[0],"this":[1,67,87],"paper,":[2],"we":[3,49,69],"introduce":[4],"a":[5,26],"novel":[6],"visual-inertial-wheel":[7],"odometry":[8,23,75],"(VIWO)":[9],"system":[10,119],"for":[11,102,113],"ground":[12],"vehicles,":[13],"which":[14,41,107],"efficiently":[15],"fuses":[16],"multi-modal":[17],"visual,":[18],"inertial":[19],"and":[20,36,63,84,128],"2D":[21,73,88],"wheel":[22,60,74,81,114],"measurements":[24],"in":[25,124,131],"sliding-window":[27],"filtering":[28],"fashion.":[29],"As":[30],"multi-sensor":[31],"fusion":[32],"requires":[33],"both":[34,125],"intrinsic":[35,62],"extrinsic":[37,64],"(spatiotemproal)":[38],"calibration":[39,58,115],"parameters":[40],"may":[42],"vary":[43],"over":[44],"time":[45],"during":[46],"terrain":[47],"navigation,":[48],"propose":[50],"to":[51],"perform":[52],"VIWO":[53,105],"along":[54],"with":[55,92],"online":[56],"sensor":[57],"of":[59],"encoders'":[61,82],"parameters.":[65,116],"To":[66],"end,":[68],"analytically":[70],"derive":[71],"the":[72,79,103],"measurement":[76],"model":[77],"from":[78],"raw":[80],"readings":[83],"optimally":[85],"fuse":[86],"relative":[89],"motion":[90],"information":[91],"3D":[93],"visual-inertial":[94],"measurements.":[95],"Additionally,":[96],"an":[97],"observability":[98],"analysis":[99],"is":[100],"performed":[101],"linearized":[104],"system,":[106],"identifies":[108],"five":[109],"commonly-seen":[110],"degenerate":[111],"motions":[112],"The":[117],"proposed":[118],"has":[120],"been":[121],"validated":[122],"extensively":[123],"Monte-Carlo":[126],"simulations":[127],"real-world":[129],"experiments":[130],"large-scale":[132],"urban":[133],"driving":[134],"scenarios.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-17T09:09:15.849793","created_date":"2025-10-10T00:00:00"}
