{"id":"https://openalex.org/W4200029670","doi":"https://doi.org/10.1109/iros51168.2021.9635980","title":"Odometry Model Calibration for Self-Driving Vehicles with Noise Correction","display_name":"Odometry Model Calibration for Self-Driving Vehicles with Noise Correction","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200029670","doi":"https://doi.org/10.1109/iros51168.2021.9635980"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635980","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5021939118","display_name":"M\u00e1t\u00e9 Fazekas","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Mate Fazekas","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network (ELKH), Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network (ELKH), Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038755734","display_name":"P\u00e9ter G\u00e1sp\u00e1r","orcid":"https://orcid.org/0000-0003-3388-1724"},"institutions":[{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Peter Gaspar","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network (ELKH), Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network (ELKH), Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081056211","display_name":"Bal\u00e1zs N\u00e9meth","orcid":"https://orcid.org/0000-0003-0211-3204"},"institutions":[{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Balazs Nemeth","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network (ELKH), Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network (ELKH), Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021939118"],"corresponding_institution_ids":["https://openalex.org/I4210117195"],"apc_list":null,"apc_paid":null,"fwci":0.4928,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59612362,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"39","issue":null,"first_page":"8860","last_page":"8865"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9135714769363403},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7230415940284729},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6412084698677063},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5984164476394653},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5456356406211853},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5364978909492493},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5306649804115295},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4610736668109894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44356629252433777},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.44103413820266724},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.4292125403881073},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.42134952545166016},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4112223982810974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3892785310745239},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3769514560699463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28199416399002075},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18867892026901245},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.1696135699748993},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1252593994140625}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9135714769363403},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7230415940284729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6412084698677063},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5984164476394653},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5456356406211853},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5364978909492493},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5306649804115295},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4610736668109894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44356629252433777},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.44103413820266724},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.4292125403881073},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.42134952545166016},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4112223982810974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3892785310745239},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3769514560699463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28199416399002075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18867892026901245},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.1696135699748993},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1252593994140625},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"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":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9635980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635980","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.sztaki.hu:10264","is_oa":false,"landing_page_url":"http://eprints.sztaki.hu/10264/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401907","display_name":"SZTAKI Publication Repository (Hungarian Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I7597260","host_organization_name":"Hungarian Academy of Sciences","host_organization_lineage":["https://openalex.org/I7597260"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2017232752","https://openalex.org/W2018557666","https://openalex.org/W2042154170","https://openalex.org/W2062525513","https://openalex.org/W2088487933","https://openalex.org/W2100079046","https://openalex.org/W2121715419","https://openalex.org/W2121914293","https://openalex.org/W2154844948","https://openalex.org/W2164680368","https://openalex.org/W2297878380","https://openalex.org/W2515433794","https://openalex.org/W2740184679","https://openalex.org/W2765225883","https://openalex.org/W2985462853","https://openalex.org/W3082822615","https://openalex.org/W3118366035","https://openalex.org/W4246840991","https://openalex.org/W4249924554","https://openalex.org/W4252415362","https://openalex.org/W6655327830","https://openalex.org/W6745177192"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W2414561716","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],"the":[1,24,27,36,54,57,62,66,71,74,79,88,103,119,122,131,143,147,150],"era":[2],"of":[3,22,26,56,65,73,81,90,102,142,149],"self-driving":[4,112],"vehicles,":[5],"state":[6],"estimation":[7,58,152],"has":[8],"3":[9],"main":[10],"contradictory":[11],"requirements,":[12],"such":[13],"as":[14],"accuracy,":[15],"robustness,":[16],"and":[17,41,50,129,146,158],"cost-effectiveness.":[18],"To":[19],"satisfy":[20],"all":[21],"them,":[23],"integration":[25],"wheel":[28,45],"encoder":[29],"measurements":[30,107,123],"is":[31,47,59,133],"a":[32,48,111,161],"proper":[33,63],"choice":[34],"besides":[35],"generally":[37],"applied":[38],"GNSS,":[39],"inertial":[40],"visual-odometry":[42],"methods.":[43],"The":[44,140],"odometry":[46,76],"robust":[49],"cost-effective":[51],"method,":[52],"but":[53],"accuracy":[55,148],"limited":[60],"by":[61],"knowledge":[64],"vehicle":[67,113],"parameter":[68,116,151],"values.":[69],"However,":[70],"calibration":[72],"nonlinear":[75],"model":[77,138],"in":[78,87,110],"presence":[80],"noise":[82,132],"remains":[83],"an":[84,97],"open":[85],"problem":[86],"context":[89],"autonomous":[91],"vehicles":[92],"yet.":[93],"This":[94],"paper":[95],"presents":[96],"algorithm":[98,145],"that":[99,105],"takes":[100],"advantage":[101],"assumption":[104],"more":[106],"are":[108,127,153],"available":[109],"for":[114],"accurate":[115],"estimation.":[117],"With":[118],"proposed":[120],"architecture,":[121],"with":[124,155,160],"distortion":[125],"effects":[126],"detected,":[128],"also":[130],"corrected":[134],"to":[135],"reach":[136],"unbiased":[137],"calibration.":[139],"performance":[141],"developed":[144],"demonstrated":[154],"detailed":[156],"validation":[157],"test":[159],"real":[162],"vehicle.":[163]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}