{"id":"https://openalex.org/W4389665771","doi":"https://doi.org/10.1109/iros55552.2023.10341453","title":"VIW-Fusion: Extrinsic Calibration and Pose Estimation for Visual-IMU-Wheel Encoder System","display_name":"VIW-Fusion: Extrinsic Calibration and Pose Estimation for Visual-IMU-Wheel Encoder System","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665771","doi":"https://doi.org/10.1109/iros55552.2023.10341453"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5022443349","display_name":"Chunxiao Qiao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148944","display_name":"D\u00e0-Ji\u0101ng Innovations Science and Technology (China)","ror":"https://ror.org/04fmkfb67","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210148944"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunxiao Qiao","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","Da Jiang Innovations, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"Da Jiang Innovations, Shenzhen, China","institution_ids":["https://openalex.org/I4210148944"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062721181","display_name":"Shuying Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuying Zhao","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100457124","display_name":"Yahui Wang","orcid":"https://orcid.org/0000-0001-6663-0177"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yahui Wang","raw_affiliation_strings":["UISEE Technology,Beijing,China,102402"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UISEE Technology,Beijing,China,102402","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100456041","display_name":"Dan Zhang","orcid":"https://orcid.org/0000-0002-7295-4837"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dan Zhang","raw_affiliation_strings":["UISEE Technology,Beijing,China,102402"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UISEE Technology,Beijing,China,102402","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1241,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93258438,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1489","last_page":"1496"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922999739646912,"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/encoder","display_name":"Encoder","score":0.8321783542633057},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7808724641799927},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7798216342926025},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7054219245910645},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6276639699935913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6228079795837402},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6217259764671326},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5739783048629761},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.522217869758606},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4839920997619629},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4831218421459198},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.4197064936161041},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38315093517303467},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1963624358177185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13311871886253357}],"concepts":[{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.8321783542633057},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7808724641799927},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7798216342926025},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7054219245910645},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6276639699935913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6228079795837402},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6217259764671326},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5739783048629761},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.522217869758606},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4839920997619629},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4831218421459198},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.4197064936161041},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38315093517303467},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1963624358177185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13311871886253357},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4285396571","display_name":null,"funder_award_id":"61973066","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W1597689155","https://openalex.org/W1612997784","https://openalex.org/W2015144733","https://openalex.org/W2046004590","https://openalex.org/W2048249748","https://openalex.org/W2115579991","https://openalex.org/W2132820324","https://openalex.org/W2157186802","https://openalex.org/W2418849765","https://openalex.org/W2616815828","https://openalex.org/W2736960679","https://openalex.org/W2744749505","https://openalex.org/W2745859992","https://openalex.org/W2770866044","https://openalex.org/W2794298225","https://openalex.org/W2887564721","https://openalex.org/W2938170127","https://openalex.org/W3003456500","https://openalex.org/W3003740593","https://openalex.org/W3003813985","https://openalex.org/W3043971245","https://openalex.org/W3103406720","https://openalex.org/W3122767460","https://openalex.org/W3130791271","https://openalex.org/W3130800379","https://openalex.org/W3206741876","https://openalex.org/W4248944231"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W4385894109","https://openalex.org/W3123982513","https://openalex.org/W4389665464","https://openalex.org/W2951795132","https://openalex.org/W2088028039","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W3153542184"],"abstract_inverted_index":{"The":[0],"data":[1],"fusion":[2],"of":[3,56,67,141],"camera,":[4],"IMU,":[5],"and":[6,18,34,65,87,137,150],"wheel":[7,85,90,115],"encoder":[8,43,59,70,86,91,116],"measurements":[9,82,92],"has":[10],"proved":[11],"its":[12,25],"effectiveness":[13],"in":[14,97,124],"localizing":[15],"ground":[16],"robots,":[17],"obtaining":[19],"accurate":[20],"sensor":[21],"extrinsic":[22,30,54,128],"parameters":[23,55],"is":[24],"premise.":[26],"We":[27,72,104,126],"propose":[28,47,106],"an":[29,160],"parameter":[31,129],"calibration":[32,50,130],"algorithm":[33,39,51],"a":[35,48,107,133,151],"multi-sensor-based":[36,143],"pose":[37],"estimation":[38],"for":[40,52,110],"the":[41,53,57,63,68,75,81,84,89,102,121,139,147,164],"camera-IMU-wheel":[42,58],"system.":[44],"First,":[45],"we":[46],"joint":[49],"system,":[60],"which":[61,118],"improves":[62],"accuracy":[64],"robustness":[66],"camera-wheel":[69],"calibration.":[71],"then":[73],"extend":[74],"visual-inertial":[76],"odometry":[77],"(VIO)":[78],"to":[79,94,100],"incorporate":[80],"from":[83],"weight":[88],"according":[93],"angular":[95],"velocity":[96],"global":[98],"optimization":[99],"improve":[101],"performance.":[103],"further":[105],"novel":[108],"method":[109],"VIO":[111],"initialization":[112],"by":[113,154,158],"integrating":[114],"information,":[117],"significantly":[119],"reduces":[120],"scale":[122],"error":[123],"initialization.":[125],"conduct":[127],"experiments":[131],"on":[132,146],"real":[134],"self-driving":[135,156],"car":[136],"validate":[138],"performance":[140],"our":[142,155],"localization":[144],"system":[145],"KAIST":[148],"dataset":[149,152],"collected":[153],"vehicles":[157],"performing":[159],"exhaust":[161],"comparison":[162],"with":[163],"state-of-the-art":[165],"algorithms.":[166],"Our":[167],"implementations":[168],"are":[169],"open":[170],"source":[171],"<sup":[172,175],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[173,176],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[174,177],"https://github.com/chunxiaoqiao/VIW-Fusion.git.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
