{"id":"https://openalex.org/W4416749608","doi":"https://doi.org/10.1109/iros60139.2025.11247224","title":"PC-SRIF: Preconditioned Cholesky-based Square Root Information Filter for Vision-aided Inertial Navigation","display_name":"PC-SRIF: Preconditioned Cholesky-based Square Root Information Filter for Vision-aided Inertial Navigation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749608","doi":"https://doi.org/10.1109/iros60139.2025.11247224"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5110810390","display_name":"Ke Tong","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tong Ke","raw_affiliation_strings":["Google XR"],"affiliations":[{"raw_affiliation_string":"Google XR","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101137953","display_name":"Parth Agrawal","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parth Agrawal","raw_affiliation_strings":["Google XR"],"affiliations":[{"raw_affiliation_string":"Google XR","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356786","display_name":"Yun Zhang","orcid":"https://orcid.org/0000-0001-9465-7975"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun Zhang","raw_affiliation_strings":["Google XR"],"affiliations":[{"raw_affiliation_string":"Google XR","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012940397","display_name":"Weikun Zhen","orcid":"https://orcid.org/0000-0002-1074-6434"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weikun Zhen","raw_affiliation_strings":["Google XR"],"affiliations":[{"raw_affiliation_string":"Google XR","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027982696","display_name":"Chao Guo","orcid":"https://orcid.org/0000-0002-2581-4487"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chao X. Guo","raw_affiliation_strings":["Google XR"],"affiliations":[{"raw_affiliation_string":"Google XR","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042656810","display_name":"Toby Sharp","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Toby Sharp","raw_affiliation_strings":["Google XR"],"affiliations":[{"raw_affiliation_string":"Google XR","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007532548","display_name":"Ryan C. DuToit","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan C. Dutoit","raw_affiliation_strings":["Google XR"],"affiliations":[{"raw_affiliation_string":"Google XR","institution_ids":["https://openalex.org/I1291425158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5110810390"],"corresponding_institution_ids":["https://openalex.org/I1291425158"],"apc_list":null,"apc_paid":null,"fwci":5.6224,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96529653,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"15158","last_page":"15164"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8425999879837036,"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":0.8425999879837036,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.05180000141263008,"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":0.03449999913573265,"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/cholesky-decomposition","display_name":"Cholesky decomposition","score":0.9571999907493591},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5903000235557556},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5453000068664551},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5163000226020813},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.48510000109672546},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4571000039577484},{"id":"https://openalex.org/keywords/qr-decomposition","display_name":"QR decomposition","score":0.42640000581741333},{"id":"https://openalex.org/keywords/numerical-stability","display_name":"Numerical stability","score":0.41690000891685486}],"concepts":[{"id":"https://openalex.org/C34727166","wikidata":"https://www.wikidata.org/wiki/Q515375","display_name":"Cholesky decomposition","level":3,"score":0.9571999907493591},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5903000235557556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5612000226974487},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5453000068664551},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5217999815940857},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5163000226020813},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.48510000109672546},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4571000039577484},{"id":"https://openalex.org/C188060507","wikidata":"https://www.wikidata.org/wiki/Q653242","display_name":"QR decomposition","level":3,"score":0.42640000581741333},{"id":"https://openalex.org/C176321772","wikidata":"https://www.wikidata.org/wiki/Q1430640","display_name":"Numerical stability","level":3,"score":0.41690000891685486},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.3707999885082245},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36959999799728394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3407999873161316},{"id":"https://openalex.org/C42355184","wikidata":"https://www.wikidata.org/wiki/Q1361088","display_name":"Matrix decomposition","level":3,"score":0.33570000529289246},{"id":"https://openalex.org/C11577676","wikidata":"https://www.wikidata.org/wiki/Q134237","display_name":"Square root","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3301999866962433},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.328900009393692},{"id":"https://openalex.org/C29406490","wikidata":"https://www.wikidata.org/wiki/Q1420659","display_name":"Fisher information","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C56372850","wikidata":"https://www.wikidata.org/wiki/Q1050404","display_name":"Sparse matrix","level":3,"score":0.29280000925064087},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":32,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W2024908906","https://openalex.org/W2051349034","https://openalex.org/W2056358962","https://openalex.org/W2064169939","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2118428504","https://openalex.org/W2121013842","https://openalex.org/W2124313187","https://openalex.org/W2135492382","https://openalex.org/W2137052305","https://openalex.org/W2274359774","https://openalex.org/W2396274919","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2797929305","https://openalex.org/W2798513908","https://openalex.org/W2963813675","https://openalex.org/W2968489055","https://openalex.org/W3043971245","https://openalex.org/W3091667825","https://openalex.org/W3157804349","https://openalex.org/W3196045958","https://openalex.org/W4285611200","https://openalex.org/W4303415335","https://openalex.org/W4312258136","https://openalex.org/W4383899755","https://openalex.org/W4389667260","https://openalex.org/W4400975091","https://openalex.org/W4401415706","https://openalex.org/W4402727243"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,84,122],"paper,":[2],"we":[3,124,166],"introduce":[4],"a":[5,94,112],"novel":[6],"estimator":[7],"for":[8,49],"vision-aided":[9],"inertial":[10],"navigation":[11],"systems":[12,141],"(VINS),":[13],"the":[14,60,74,156],"Preconditioned":[15],"Cholesky-based":[16],"Square":[17],"Root":[18],"Information":[19,45],"Filter":[20],"(PC-SRIF).":[21],"When":[22],"solving":[23,139],"linear":[24,140],"systems,":[25],"employing":[26],"Cholesky":[27,65,133],"decomposition":[28,51,134],"offers":[29],"superior":[30,147],"efficiency":[31,149,157],"but":[32,92],"can":[33],"compromise":[34],"numerical":[35,61,160],"stability.":[36],"Due":[37],"to":[38,73,105,115,151],"this,":[39],"existing":[40],"VINS":[41,91,185],"utilizing":[42],"(Square":[43],"Root)":[44],"Filters":[46],"often":[47,71],"opt":[48],"QR":[50],"on":[52,121],"platforms":[53],"where":[54],"single":[55,136],"precision":[56,137],"is":[57,85,189],"preferred,":[58],"avoiding":[59],"challenges":[62],"associated":[63],"with":[64],"decomposition.":[66],"While":[67],"these":[68,117],"issues":[69],"are":[70],"attributed":[72],"ill-conditioned":[75,107],"information":[76,108],"matrix":[77,109],"in":[78,131,135,142,176,183],"VINS,":[79,165],"our":[80,179,184],"analysis":[81],"reveals":[82],"that":[83,103],"not":[86],"an":[87,106],"inherent":[88],"property":[89],"of":[90,96,162,178],"rather":[93],"consequence":[95],"specific":[97],"parameterizations.":[98],"We":[99],"identify":[100],"several":[101],"factors":[102],"contribute":[104],"and":[110,159],"propose":[111],"preconditioning":[113],"technique":[114],"mitigate":[116],"conditioning":[118],"issues.":[119],"Building":[120],"analysis,":[123],"present":[125],"PC-SRIF,":[126],"which":[127,172],"exhibits":[128],"remarkable":[129],"stability":[130,161],"performing":[132],"when":[138],"VINS.":[143],"Consequently,":[144],"PC-SRIF":[145,163],"achieves":[146],"theoretical":[148,180],"compared":[150],"alternative":[152],"estimators.":[153],"To":[154],"validate":[155],"advantages":[158],"based":[164],"have":[167],"conducted":[168],"well":[169],"controlled":[170],"experiments,":[171],"provide":[173],"empirical":[174],"evidence":[175],"support":[177],"findings.":[181],"Remarkably,":[182],"implementation,":[186],"PC-SRIF\u2019s":[187],"runtime":[188],"41%":[190],"faster":[191],"than":[192],"QR-based":[193],"SRIF.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}