{"id":"https://openalex.org/W4405786867","doi":"https://doi.org/10.1109/iros58592.2024.10801527","title":"NVINS: Robust Visual Inertial Navigation Fused with NeRF-augmented Camera Pose Regressor and Uncertainty Quantification","display_name":"NVINS: Robust Visual Inertial Navigation Fused with NeRF-augmented Camera Pose Regressor and Uncertainty Quantification","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786867","doi":"https://doi.org/10.1109/iros58592.2024.10801527"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5049119806","display_name":"Juyeop Han","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Juyeop Han","raw_affiliation_strings":["Massachusetts Institute of Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054527198","display_name":"Lukas Lao Beyer","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lukas Lao Beyer","raw_affiliation_strings":["Massachusetts Institute of Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050651411","display_name":"Guilherme V. Cavalheiro","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guilherme V. Cavalheiro","raw_affiliation_strings":["Massachusetts Institute of Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Massachusetts Institute of Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049119806"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":6.5226,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.96187221,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12601","last_page":"12608"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9973000288009644,"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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.6939671635627747},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6790342330932617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6312249898910522},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5336772799491882},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4502333402633667},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.440681517124176},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07725280523300171}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6939671635627747},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6790342330932617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6312249898910522},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5336772799491882},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4502333402633667},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.440681517124176},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07725280523300171},{"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/iros58592.2024.10801527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1969080261","https://openalex.org/W2124313187","https://openalex.org/W2130103520","https://openalex.org/W2200124539","https://openalex.org/W2471962767","https://openalex.org/W2482726005","https://openalex.org/W2584731199","https://openalex.org/W2602709638","https://openalex.org/W2605111497","https://openalex.org/W2795645133","https://openalex.org/W2949924544","https://openalex.org/W2963024893","https://openalex.org/W2964059111","https://openalex.org/W3003344567","https://openalex.org/W3043426275","https://openalex.org/W3109585842","https://openalex.org/W3112108866","https://openalex.org/W3137702032","https://openalex.org/W3203570626","https://openalex.org/W4210985923","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4312325284","https://openalex.org/W4312878643","https://openalex.org/W4323528249","https://openalex.org/W4378450585","https://openalex.org/W4382658067","https://openalex.org/W4383108921","https://openalex.org/W4385318467","https://openalex.org/W4386065515","https://openalex.org/W4389665446","https://openalex.org/W4401413880","https://openalex.org/W6677548441","https://openalex.org/W6730042731","https://openalex.org/W6753441378","https://openalex.org/W6761334422","https://openalex.org/W6773555910","https://openalex.org/W6802692370"],"related_works":["https://openalex.org/W2885114961","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"Neural":[3],"Radiance":[4],"Fields":[5],"(NeRF)":[6],"have":[7],"emerged":[8],"as":[9],"a":[10,56,70,90,109,126,132,143],"powerful":[11],"tool":[12],"for":[13,40,73,113],"3D":[14],"reconstruction":[15],"and":[16,27,45,92,102],"novel":[17,57],"view":[18],"synthesis.":[19],"However,":[20],"the":[21,33],"computational":[22],"cost":[23],"of":[24,35],"NeRF":[25,91],"rendering":[26],"degradation":[28],"in":[29,43,131,139],"quality":[30],"due":[31],"to":[32,68,142],"presence":[34],"artifacts":[36],"pose":[37,81],"significant":[38,137],"challenges":[39],"its":[41,94],"application":[42],"real-time":[44,74],"robust":[46,71],"robotic":[47,75],"tasks,":[48],"especially":[49],"on":[50],"embedded":[51],"systems.":[52],"This":[53],"paper":[54],"introduces":[55],"framework":[58],"that":[59],"integrates":[60],"NeRF-derived":[61],"localization":[62,120],"information":[63],"with":[64,84,118],"Visual-Inertial":[65],"Odometry":[66],"(VIO)":[67],"provide":[69],"solution":[72],"navigation.":[76],"By":[77],"training":[78],"an":[79],"absolute":[80],"regression":[82],"network":[83],"augmented":[85],"image":[86],"data":[87],"rendered":[88],"from":[89],"quantifying":[93],"uncertainty,":[95],"our":[96],"approach":[97],"effectively":[98],"counters":[99],"positional":[100],"drift":[101],"enhances":[103],"system":[104],"reliability.":[105],"We":[106],"also":[107],"establish":[108],"mathematically":[110],"sound":[111],"foundation":[112],"combining":[114],"visual":[115],"inertial":[116],"navigation":[117],"camera":[119],"neural":[121],"networks,":[122],"considering":[123],"uncertainty":[124],"under":[125],"Bayesian":[127],"framework.":[128],"Experimental":[129],"validation":[130],"photorealistic":[133],"simulation":[134],"environment":[135],"demonstrates":[136],"improvements":[138],"accuracy":[140],"compared":[141],"conventional":[144],"VIO":[145],"approach.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
