{"id":"https://openalex.org/W4401980549","doi":"https://doi.org/10.1109/jiot.2024.3450967","title":"SG-VIO: Monocular Visual-Inertial Odometry With Tightly Coupled Structural Lines and Gravity to Avoid Degeneracy","display_name":"SG-VIO: Monocular Visual-Inertial Odometry With Tightly Coupled Structural Lines and Gravity to Avoid Degeneracy","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4401980549","doi":"https://doi.org/10.1109/jiot.2024.3450967"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2024.3450967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3450967","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","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/A5020091277","display_name":"Hexiong Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hexiong Yao","raw_affiliation_strings":["School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0007-7889-7689","affiliations":[{"raw_affiliation_string":"School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102015139","display_name":"Yuexin Ma","orcid":"https://orcid.org/0000-0001-7237-988X"},"institutions":[{"id":"https://openalex.org/I74485261","display_name":"Shandong Agricultural University","ror":"https://ror.org/02ke8fw32","country_code":"CN","type":"education","lineage":["https://openalex.org/I74485261"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuexin Ma","raw_affiliation_strings":["College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian, China","institution_ids":["https://openalex.org/I74485261"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113354684","display_name":"Peijing Li","orcid":"https://orcid.org/0009-0009-4610-7288"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peijing Li","raw_affiliation_strings":["School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077143747","display_name":"Chunlei Zhai","orcid":"https://orcid.org/0000-0002-9365-5190"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunlei Zhai","raw_affiliation_strings":["School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9365-5190","affiliations":[{"raw_affiliation_string":"School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084269591","display_name":"Jiangbo Song","orcid":"https://orcid.org/0000-0003-3141-1251"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangbo Song","raw_affiliation_strings":["School of System and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-3141-1251","affiliations":[{"raw_affiliation_string":"School of System and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093954371","display_name":"Mingjun Ouyang","orcid":"https://orcid.org/0000-0002-5132-0595"},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingjun Ouyang","raw_affiliation_strings":["School of Electronics and Information Technology, Guangdong Polytechnic Normal University, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Technology, Guangdong Polytechnic Normal University, Guangzhou, China","institution_ids":["https://openalex.org/I4210122543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083900036","display_name":"Zhiqiang Dai","orcid":"https://orcid.org/0000-0002-6846-2776"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Dai","raw_affiliation_strings":["School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-6846-2776","affiliations":[{"raw_affiliation_string":"School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100667120","display_name":"Xiangwei Zhu","orcid":"https://orcid.org/0000-0003-4821-2638"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangwei Zhu","raw_affiliation_strings":["School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-4821-2638","affiliations":[{"raw_affiliation_string":"School of Electronic and Communication Engineering and the Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.062,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94948237,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"11","issue":"24","first_page":"40244","last_page":"40254"},"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/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"}},{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","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"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6518865823745728},{"id":"https://openalex.org/keywords/degeneracy","display_name":"Degeneracy (biology)","score":0.5779786109924316},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5554952621459961},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5479483604431152},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47786444425582886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4459041655063629},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4100257158279419},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.38930684328079224},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1711488664150238},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1629929542541504},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1294032633304596}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6518865823745728},{"id":"https://openalex.org/C2777727622","wikidata":"https://www.wikidata.org/wiki/Q5251772","display_name":"Degeneracy (biology)","level":2,"score":0.5779786109924316},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5554952621459961},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5479483604431152},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47786444425582886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4459041655063629},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4100257158279419},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.38930684328079224},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1711488664150238},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1629929542541504},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1294032633304596},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C60644358","wikidata":"https://www.wikidata.org/wiki/Q128570","display_name":"Bioinformatics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2024.3450967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3450967","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.6700000166893005,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G3224278053","display_name":null,"funder_award_id":"GXWD20201231165807008","funder_id":"https://openalex.org/F4320336736","funder_display_name":"Chengdu Science and Technology Program"},{"id":"https://openalex.org/G5448182810","display_name":null,"funder_award_id":"ZDSYS20210623091807023","funder_id":"https://openalex.org/F4320327832","funder_display_name":"Shantou Science and Technology Project"},{"id":"https://openalex.org/G8814577622","display_name":null,"funder_award_id":"20200830225317001","funder_id":"https://openalex.org/F4320336736","funder_display_name":"Chengdu Science and Technology Program"}],"funders":[{"id":"https://openalex.org/F4320327832","display_name":"Shantou Science and Technology Project","ror":null},{"id":"https://openalex.org/F4320336736","display_name":"Chengdu Science and Technology Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1519594923","https://openalex.org/W2008849352","https://openalex.org/W2043630212","https://openalex.org/W2057488855","https://openalex.org/W2102271310","https://openalex.org/W2160072137","https://openalex.org/W2396274919","https://openalex.org/W2612364357","https://openalex.org/W2745859992","https://openalex.org/W2796916234","https://openalex.org/W2942395934","https://openalex.org/W2967494572","https://openalex.org/W2968125992","https://openalex.org/W3003720118","https://openalex.org/W3004008537","https://openalex.org/W3043971245","https://openalex.org/W3091667825","https://openalex.org/W3092045196","https://openalex.org/W3162423126","https://openalex.org/W3162624031","https://openalex.org/W3175237403","https://openalex.org/W3181825824","https://openalex.org/W3199420789","https://openalex.org/W3202883604","https://openalex.org/W4214820331","https://openalex.org/W4226391002","https://openalex.org/W4246483956","https://openalex.org/W4285512293","https://openalex.org/W4288064527","https://openalex.org/W4392979799","https://openalex.org/W6784410685"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2372940580","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W4390187686","https://openalex.org/W2111152968"],"abstract_inverted_index":{"Visual-inertial":[0],"odometry":[1],"(VIO)":[2],"has":[3],"played":[4],"an":[5,37,67],"important":[6,38],"role":[7],"in":[8,52,78,125],"the":[9,12,44,75,82,85,94,101,110,115,122,126,131,136,154,170,177,190,205,211,215,221,232,235],"field":[10],"of":[11,14,19,46,48,117,179,192,207,234],"Internet":[13],"Things,":[15],"providing":[16],"a":[17,105,157],"variety":[18],"devices":[20],"and":[21,25,28,113,135,167,183,214,225],"systems":[22,51,218],"with":[23],"high-precision":[24],"reliable":[26],"positioning":[27],"navigation":[29],"capabilities.":[30],"In":[31,81,97,153],"particular,":[32],"indoor":[33],"environments":[34,55],"have":[35],"become":[36],"scenario":[39],"for":[40,163],"its":[41],"application.":[42],"However,":[43],"lack":[45],"robustness":[47],"point-based":[49],"VIO":[50,70,217],"low-textured":[53],"man-made":[54,79],"often":[56],"leads":[57],"to":[58,72,147,203,230],"failure.":[59],"Based":[60],"on":[61,150,219],"this":[62,64],"issue,":[63],"article":[65],"proposes":[66],"innovative":[68],"monocular":[69],"approach":[71,174],"fully":[73],"utilize":[74],"available":[76],"information":[77],"environments.":[80],"front":[83],"end,":[84,156],"inertial":[86],"measurement":[87,89],"unit":[88],"model":[90],"is":[91,161,201],"defined":[92,162],"by":[93],"preintegration":[95],"method.":[96],"image":[98,127],"data,":[99],"first,":[100],"line":[102,118,138,165,181],"features":[103,112,139,166],"undergo":[104],"uniformization":[106],"process,":[107],"which":[108],"reduces":[109],"redundant":[111],"improves":[114],"accuracy":[116],"feature":[119],"matching.":[120],"Then,":[121],"vanishing":[123,151],"points":[124],"are":[128,140],"detected":[129],"using":[130],"Manhattan":[132],"world":[133],"assumption,":[134],"structural":[137,164,180,193],"classified":[141],"as":[142],"either":[143],"parallel":[144],"or":[145],"perpendicular":[146],"gravity":[148],"based":[149],"points.":[152],"back":[155],"novel":[158],"residual":[159],"term":[160],"gravity,":[168,186],"deriving":[169],"corresponding":[171],"Jacobian.":[172],"This":[173],"effectively":[175],"addresses":[176],"issue":[178],"degeneracy":[182],"continuously":[184],"optimizes":[185],"while":[187],"also":[188],"increasing":[189],"utilization":[191],"lines.":[194],"A":[195],"sliding":[196],"window":[197],"nonlinear":[198],"optimization":[199],"method":[200],"employed":[202],"minimize":[204],"sum":[206],"residuals.":[208],"We":[209],"tested":[210],"proposed":[212,236],"system":[213],"state-of-the-art":[216],"both":[220],"public":[222],"data":[223,228],"sets":[224],"our":[226],"collected":[227],"set":[229],"validate":[231],"effectiveness":[233],"system.":[237]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
