{"id":"https://openalex.org/W3209425277","doi":"https://doi.org/10.1109/jas.2021.1004290","title":"Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework","display_name":"Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework","publication_year":2021,"publication_date":"2021-10-20","ids":{"openalex":"https://openalex.org/W3209425277","doi":"https://doi.org/10.1109/jas.2021.1004290","mag":"3209425277"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2021.1004290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004290","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-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/A5025117178","display_name":"Yinlong Zhang","orcid":"https://orcid.org/0000-0001-5545-2555"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yinlong Zhang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112277676","display_name":"Wei Liang","orcid":"https://orcid.org/0000-0002-4730-017X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021464875","display_name":"Mingze Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingze Yuan","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060311371","display_name":"Hongsheng He","orcid":"https://orcid.org/0000-0002-2810-865X"},"institutions":[{"id":"https://openalex.org/I39587148","display_name":"Wichita State University","ror":"https://ror.org/00c4e7y75","country_code":"US","type":"education","lineage":["https://openalex.org/I39587148"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongsheng He","raw_affiliation_strings":["School of Computing, Wichita State University, Wichita, USA"],"affiliations":[{"raw_affiliation_string":"School of Computing, Wichita State University, Wichita, USA","institution_ids":["https://openalex.org/I39587148"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025711005","display_name":"Jindong Tan","orcid":"https://orcid.org/0000-0003-0339-8811"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jindong Tan","raw_affiliation_strings":["Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, TN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070930704","display_name":"Zhibo Pang","orcid":"https://orcid.org/0000-0002-7474-4294"},"institutions":[{"id":"https://openalex.org/I4210086503","display_name":"ABB (Sweden)","ror":"https://ror.org/0033n4009","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086503","https://openalex.org/I885143765"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Zhibo Pang","raw_affiliation_strings":["Department of Automation Technology, ABB Corporate Research Sweden, Vasteras, Sweden","Department of Intelligent Systems, Royal Institute of Technology (KTH), Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Automation Technology, ABB Corporate Research Sweden, Vasteras, Sweden","institution_ids":["https://openalex.org/I4210086503"]},{"raw_affiliation_string":"Department of Intelligent Systems, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5025117178"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":6.2024,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.96276217,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"146","last_page":"159"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991000294685364,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7361092567443848},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7223518490791321},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7176803350448608},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7114418745040894},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6854557991027832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6401060819625854},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5936497449874878},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5522220730781555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5384492874145508},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.500352144241333},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.45983144640922546},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4566284120082855},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15459313988685608},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11592689156532288}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7361092567443848},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7223518490791321},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7176803350448608},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7114418745040894},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6854557991027832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6401060819625854},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5936497449874878},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5522220730781555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5384492874145508},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.500352144241333},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.45983144640922546},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4566284120082855},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15459313988685608},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11592689156532288},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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":2,"locations":[{"id":"doi:10.1109/jas.2021.1004290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004290","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"},{"id":"pmh:oai:soar.wichita.edu:10057/22288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/JAS.2021.1004290","pdf_url":null,"source":{"id":"https://openalex.org/S4306401479","display_name":"Holmes Museum Of Anthropology (Wichita State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39587148","host_organization_name":"Wichita State University","host_organization_lineage":["https://openalex.org/I39587148"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G402523505","display_name":null,"funder_award_id":"61903357,62022088","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5853269167","display_name":null,"funder_award_id":"2020M672600","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7622491058","display_name":null,"funder_award_id":"APR20-0023","funder_id":"https://openalex.org/F4320320940","funder_display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning"}],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1670326883","https://openalex.org/W1970100640","https://openalex.org/W1990124658","https://openalex.org/W1998058414","https://openalex.org/W2036837666","https://openalex.org/W2054289217","https://openalex.org/W2147536420","https://openalex.org/W2342437324","https://openalex.org/W2462964962","https://openalex.org/W2482726005","https://openalex.org/W2528858335","https://openalex.org/W2565233142","https://openalex.org/W2590327367","https://openalex.org/W2590541183","https://openalex.org/W2609082423","https://openalex.org/W2737926097","https://openalex.org/W2739517552","https://openalex.org/W2741113812","https://openalex.org/W2745859992","https://openalex.org/W2765820394","https://openalex.org/W2773375594","https://openalex.org/W2781015180","https://openalex.org/W2789374635","https://openalex.org/W2789621390","https://openalex.org/W2885344251","https://openalex.org/W2887564721","https://openalex.org/W2890066602","https://openalex.org/W2891684080","https://openalex.org/W2908571003","https://openalex.org/W2909896524","https://openalex.org/W2910261328","https://openalex.org/W2910850089","https://openalex.org/W2913685494","https://openalex.org/W2919538836","https://openalex.org/W2928382658","https://openalex.org/W2933599511","https://openalex.org/W2955836939","https://openalex.org/W2965365980","https://openalex.org/W2967494572","https://openalex.org/W2968489055","https://openalex.org/W2981582971","https://openalex.org/W2983756949","https://openalex.org/W3001849902","https://openalex.org/W3007245826","https://openalex.org/W3007680438","https://openalex.org/W3012545410","https://openalex.org/W3014801889","https://openalex.org/W3029423144","https://openalex.org/W3038324153","https://openalex.org/W3038475550","https://openalex.org/W3045077661","https://openalex.org/W3108449827","https://openalex.org/W3125449081"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2742744817","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W3202472720","https://openalex.org/W2382856674"],"abstract_inverted_index":{"Reliable":[0],"and":[1,10,22,31,43,63,71,103,124,130,144],"accurate":[2],"calibration":[3,45,84,106,118,141],"for":[4,16],"camera,":[5],"inertial":[6],"measurement":[7],"unit":[8],"(IMU)":[9],"robot":[11,19],"is":[12,56],"a":[13,40,47,91],"critical":[14],"prerequisite":[15],"visual-inertial":[17,42],"based":[18],"pose":[20],"estimation":[21],"surrounding":[23],"environment":[24],"perception.":[25],"However,":[26],"traditional":[27],"calibrations":[28],"suffer":[29],"inaccuracy":[30],"inconsistency.":[32],"To":[33],"address":[34],"these":[35],"problems,":[36],"this":[37],"paper":[38],"proposes":[39],"monocular":[41],"robotic-arm":[44],"in":[46,90],"unifying":[48],"framework.":[49],"In":[50,114],"our":[51,111,140],"method,":[52],"the":[53,60,75,79,82,115,117,120],"spatial":[54],"relationship":[55],"geometrically":[57],"correlated":[58],"between":[59],"sensing":[61],"units":[62],"robotic":[64,83],"arm.":[65],"The":[66,105,134],"decoupled":[67],"estimations":[68],"on":[69,98,110],"rotation":[70,123],"translation":[72,125],"could":[73],"reduce":[74],"coupled":[76],"errors":[77],"during":[78],"optimization.":[80],"Additionally,":[81],"moving":[85],"trajectory":[86],"has":[87,107],"been":[88,108],"designed":[89],"spiral":[92],"pattern":[93],"that":[94],"enables":[95],"full":[96],"excitations":[97],"6":[99],"DOF":[100],"motions":[101],"repeatably":[102],"consistently.":[104],"evaluated":[109],"developed":[112],"platform.":[113],"experiments,":[116],"achieves":[119],"accuracy":[121,143],"with":[122,136],"RMSEs":[126],"less":[127],"than":[128],"0.7\u00b0":[129],"0.01":[131],"m,":[132],"respectively.":[133],"comparisons":[135],"state-of-the-art":[137],"results":[138],"prove":[139],"consistency,":[142],"effectiveness.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}
