{"id":"https://openalex.org/W4389665372","doi":"https://doi.org/10.1109/iros55552.2023.10341536","title":"Visual-LiDAR-Inertial Odometry: A New Visual-Inertial SLAM Method Based on an iPhone 12 Pro","display_name":"Visual-LiDAR-Inertial Odometry: A New Visual-Inertial SLAM Method Based on an iPhone 12 Pro","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665372","doi":"https://doi.org/10.1109/iros55552.2023.10341536"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341536","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":"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/A5050597335","display_name":"Lingqiu Jin","orcid":"https://orcid.org/0000-0002-1343-7354"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lingqiu Jin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5102890823","display_name":"Cang Ye","orcid":"https://orcid.org/0000-0002-5886-4798"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cang Ye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8706,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.91760163,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1511","last_page":"1516"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8371030688285828},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7996315360069275},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7864093780517578},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.769426703453064},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7385239601135254},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.708161473274231},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5302029848098755},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5155503749847412},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4960101544857025},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.42573556303977966},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2405635118484497},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20831727981567383},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.14381501078605652},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12002930045127869}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8371030688285828},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7996315360069275},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7864093780517578},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.769426703453064},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7385239601135254},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.708161473274231},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5302029848098755},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5155503749847412},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4960101544857025},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.42573556303977966},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2405635118484497},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20831727981567383},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.14381501078605652},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12002930045127869},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341536","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":[],"funders":[{"id":"https://openalex.org/F4320337350","display_name":"National Eye Institute","ror":"https://ror.org/03wkg3b53"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1987441863","https://openalex.org/W1988874269","https://openalex.org/W1991544872","https://openalex.org/W2013503831","https://openalex.org/W2017745767","https://openalex.org/W2025143021","https://openalex.org/W2025519812","https://openalex.org/W2046033161","https://openalex.org/W2086325065","https://openalex.org/W2102481828","https://openalex.org/W2110357983","https://openalex.org/W2115344791","https://openalex.org/W2116023101","https://openalex.org/W2117228865","https://openalex.org/W2118877769","https://openalex.org/W2130103520","https://openalex.org/W2144899331","https://openalex.org/W2212334805","https://openalex.org/W2214788824","https://openalex.org/W2284939270","https://openalex.org/W2418849765","https://openalex.org/W2482368135","https://openalex.org/W2594239308","https://openalex.org/W2610417264","https://openalex.org/W2745859992","https://openalex.org/W2767552815","https://openalex.org/W2768130891","https://openalex.org/W2772942222","https://openalex.org/W2883702102","https://openalex.org/W2895822020","https://openalex.org/W2909063396","https://openalex.org/W3029423144","https://openalex.org/W3129448911","https://openalex.org/W3176892919","https://openalex.org/W6733839138","https://openalex.org/W6758162286"],"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":{"As":[0],"today's":[1],"smartphone":[2],"integrates":[3],"various":[4,185],"imaging":[5],"sensors":[6],"and":[7,12,30,75,92,100,103,122,139,154,176,181],"Inertial":[8],"Measurement":[9],"Units":[10],"(IMU)":[11],"becomes":[13],"computationally":[14],"powerful,":[15],"there":[16],"is":[17],"a":[18,39,64,168],"growing":[19],"interest":[20],"in":[21,89,137,142,149],"developing":[22],"smartphone-based":[23],"visual-inertial":[24],"(VI)":[25],"SLAM":[26,41],"methods":[27],"for":[28,96,125],"robotics":[29],"computer":[31],"vision":[32],"applications.":[33],"In":[34],"this":[35],"paper,":[36],"we":[37],"introduce":[38],"new":[40],"method,":[42],"called":[43],"Visual-LiDAR-Inertial":[44],"Odometry":[45],"(VLIO),":[46],"based":[47,67],"on":[48,68],"an":[49,59],"iPhone":[50],"12":[51],"Pro.":[52],"VLIO":[53,130],"formulates":[54],"device":[55],"pose":[56,106,158],"estimation":[57,108],"as":[58],"optimization":[60],"problem":[61],"that":[62,83,172],"minimizes":[63],"cost":[65,127],"function":[66],"the":[69,72,80,86,94,97,120,126,165,179,191],"residuals":[70,124],"of":[71,167,178,193],"inertial,":[73],"visual,":[74],"depth":[76,90],"measurements.":[77],"We":[78],"present":[79],"first":[81],"work":[82],"1)":[84],"characterizes":[85,105],"iPhone's":[87],"LiDAR":[88,110],"measurement":[91,98,113],"identifies":[93],"models":[95,114],"error":[99],"standard":[101],"deviation,":[102],"2)":[104],"change":[107],"with":[109,184],"data.":[111],"The":[112,160],"are":[115],"then":[116],"used":[117],"to":[118],"compute":[119],"depth-related":[121],"visual-feature-related":[123],"function.":[128],"Also,":[129],"tracks":[131],"varying":[132],"camera":[133,174],"intrinsic":[134],"parameters":[135],"(CIP)":[136],"real-time":[138],"uses":[140],"them":[141],"computing":[143],"these":[144],"residuals.":[145],"Both":[146],"approaches":[147],"result":[148],"more":[150,156],"accurate":[151,157],"residual":[152],"terms":[153],"thus":[155],"estimation.":[159],"CIP":[161],"tracking":[162],"method":[163],"eliminates":[164],"need":[166],"sophisticated":[169],"model-fitting":[170],"process":[171],"includes":[173],"calibration":[175],"paring":[177],"CIPs":[180],"IMU":[182],"measurements":[183],"phone":[186],"orientations.":[187],"Experimental":[188],"results":[189],"validate":[190],"efficacy":[192],"VLIO.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}