{"id":"https://openalex.org/W3191633065","doi":"https://doi.org/10.1109/iros51168.2021.9636625","title":"Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization","display_name":"Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3191633065","doi":"https://doi.org/10.1109/iros51168.2021.9636625","mag":"3191633065"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636625","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636625","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/A5046785361","display_name":"Abhishek Goudar","orcid":"https://orcid.org/0000-0002-4438-5876"},"institutions":[{"id":"https://openalex.org/I4210162454","display_name":"Dynamic Systems Analysis (Canada)","ror":"https://ror.org/05c2ase32","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210162454"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Abhishek Goudar","raw_affiliation_strings":["Dynamic Systems Lab, Institute for Aerospace Studies, University of Toronto, Canada","Vector Institute for Artificial Intelligence in Toronto"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab, Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I4210162454","https://openalex.org/I185261750"]},{"raw_affiliation_string":"Vector Institute for Artificial Intelligence in Toronto","institution_ids":["https://openalex.org/I4210127509"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I4210162454","display_name":"Dynamic Systems Analysis (Canada)","ror":"https://ror.org/05c2ase32","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210162454"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Dynamic Systems Lab, Institute for Aerospace Studies, University of Toronto, Canada","Vector Institute for Artificial Intelligence in Toronto"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab, Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I4210162454","https://openalex.org/I185261750"]},{"raw_affiliation_string":"Vector Institute for Artificial Intelligence in Toronto","institution_ids":["https://openalex.org/I4210127509"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046785361"],"corresponding_institution_ids":["https://openalex.org/I185261750","https://openalex.org/I4210127509","https://openalex.org/I4210162454"],"apc_list":null,"apc_paid":null,"fwci":5.6256,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.97795457,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1161","last_page":"1168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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/T11312","display_name":"Soil Moisture and Remote Sensing","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7380422949790955},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7357476949691772},{"id":"https://openalex.org/keywords/utc-offset","display_name":"UTC offset","score":0.6202696561813354},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6111596822738647},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5439380407333374},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5224161148071289},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.500922679901123},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4448786973953247},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.431412935256958},{"id":"https://openalex.org/keywords/precise-point-positioning","display_name":"Precise Point Positioning","score":0.42841625213623047},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.3475055694580078},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2306031882762909},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13673216104507446},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07531207799911499}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7380422949790955},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7357476949691772},{"id":"https://openalex.org/C185588997","wikidata":"https://www.wikidata.org/wiki/Q187110","display_name":"UTC offset","level":3,"score":0.6202696561813354},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6111596822738647},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5439380407333374},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5224161148071289},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.500922679901123},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4448786973953247},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.431412935256958},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.42841625213623047},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.3475055694580078},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2306031882762909},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13673216104507446},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07531207799911499},{"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/iros51168.2021.9636625","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636625","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W843488890","https://openalex.org/W1521464635","https://openalex.org/W1634692259","https://openalex.org/W1967819897","https://openalex.org/W1998058414","https://openalex.org/W2016959837","https://openalex.org/W2038166203","https://openalex.org/W2056298239","https://openalex.org/W2056842608","https://openalex.org/W2077751272","https://openalex.org/W2115642551","https://openalex.org/W2115969888","https://openalex.org/W2133412146","https://openalex.org/W2140998418","https://openalex.org/W2143388911","https://openalex.org/W2147536420","https://openalex.org/W2167340365","https://openalex.org/W2168004776","https://openalex.org/W2418817242","https://openalex.org/W2483614246","https://openalex.org/W2768018028","https://openalex.org/W2802189056","https://openalex.org/W2892242666","https://openalex.org/W2956892431","https://openalex.org/W3104793674","https://openalex.org/W3134772976","https://openalex.org/W6623514431","https://openalex.org/W6754932516"],"related_works":["https://openalex.org/W3084744931","https://openalex.org/W2597513713","https://openalex.org/W3206500252","https://openalex.org/W2803265893","https://openalex.org/W2902549258","https://openalex.org/W2968867052","https://openalex.org/W4220774937","https://openalex.org/W4306248906","https://openalex.org/W4385199229","https://openalex.org/W4306291904"],"abstract_inverted_index":{"The":[0,31,46,144],"combination":[1],"of":[2,55,71,128],"ultrawideband":[3],"(UWB)":[4],"radios":[5],"and":[6,35,97,110,123,167],"inertial":[7],"measurement":[8],"units":[9],"(IMU)":[10],"can":[11,83,100],"provide":[12],"accurate":[13],"positioning":[14,103,154],"in":[15,90,152],"environments":[16],"where":[17],"the":[18,53,56,63,102,115,121,124,160,169],"Global":[19],"Positioning":[20],"System":[21],"(GPS)":[22],"service":[23],"is":[24,49],"either":[25],"unavailable":[26],"or":[27,76],"has":[28],"unsatisfactory":[29],"performance.":[30,104],"two":[32],"sensors,":[33],"IMU":[34],"UWB":[36,47],"radio,":[37],"are":[38,65],"often":[39],"not":[40],"co-located":[41],"on":[42],"a":[43,129],"moving":[44],"system.":[45,132],"radio":[48],"typically":[50],"located":[51,66],"at":[52,85],"extremities":[54],"system":[57],"to":[58,68,164,173],"ensure":[59],"reliable":[60],"communication,":[61],"whereas":[62],"IMUs":[64],"closer":[67],"its":[69],"center":[70],"gravity.":[72],"Furthermore,":[73],"without":[74],"hardware":[75],"software":[77],"synchronization,":[78],"data":[79],"from":[80],"heterogeneous":[81],"sensors":[82],"arrive":[84],"different":[86],"time":[87],"instants":[88],"resulting":[89],"temporal":[91,98,125,170],"offsets.":[92,143],"If":[93],"uncalibrated,":[94],"these":[95,142],"spatial":[96,122,161],"offsets":[99],"degrade":[101],"In":[105],"this":[106],"paper,":[107],"using":[108],"observability":[109],"identifiability":[111],"criteria,":[112],"we":[113],"derive":[114],"conditions":[116],"required":[117],"for":[118,139],"successfully":[119],"calibrating":[120,141],"offset":[126,162,171],"parameters":[127,163],"tightly-coupled":[130],"UWB-IMU":[131],"We":[133],"also":[134],"present":[135],"an":[136],"online":[137],"method":[138],"jointly":[140],"results":[145,151],"show":[146],"that":[147],"our":[148],"calibration":[149],"approach":[150],"improved":[153],"accuracy":[155],"while":[156],"simultaneously":[157],"estimating":[158],"(i)":[159],"millimeter":[165],"precision":[166],"(ii)":[168],"parameter":[172],"millisecond":[174],"precision.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}