{"id":"https://openalex.org/W4406094300","doi":"https://doi.org/10.1109/jiot.2025.3526811","title":"PO-KF: A Pose-Only Representation-Based Kalman Filter for Visual Inertial Odometry","display_name":"PO-KF: A Pose-Only Representation-Based Kalman Filter for Visual Inertial Odometry","publication_year":2025,"publication_date":"2025-01-06","ids":{"openalex":"https://openalex.org/W4406094300","doi":"https://doi.org/10.1109/jiot.2025.3526811"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3526811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3526811","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/A5100427865","display_name":"Liqiang Wang","orcid":"https://orcid.org/0000-0002-2437-3077"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liqiang Wang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China","GNSS Reaserch Center of Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2437-3077","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"GNSS Reaserch Center of Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023189251","display_name":"Hailiang Tang","orcid":"https://orcid.org/0000-0002-5224-036X"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hailiang Tang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China","GNSS Reaserch Center of Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5224-036X","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"GNSS Reaserch Center of Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011391442","display_name":"Tisheng Zhang","orcid":"https://orcid.org/0000-0001-7602-0428"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tisheng Zhang","raw_affiliation_strings":["GNSS Reaserch Center and the Hubei Luojia Laboratory, Wuhan University, Wuhan, China","Hubei Luojia Laboratory, Wuhan, China","GNSS Reaserch Center of Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-7602-0428","affiliations":[{"raw_affiliation_string":"GNSS Reaserch Center and the Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan, China","institution_ids":[]},{"raw_affiliation_string":"GNSS Reaserch Center of Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064725455","display_name":"Yan Wang","orcid":"https://orcid.org/0000-0001-5606-2794"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China","GNSS Reaserch Center of Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-5606-2794","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"GNSS Reaserch Center of Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100406685","display_name":"Quan Zhang","orcid":"https://orcid.org/0000-0002-6918-9935"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Zhang","raw_affiliation_strings":["GNSS Reaserch Center and the Hubei Luojia Laboratory, Wuhan University, Wuhan, China","GNSS Reaserch Center of Wuhan University, Wuhan, China","Hubei Luojia Laboratory, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-6918-9935","affiliations":[{"raw_affiliation_string":"GNSS Reaserch Center and the Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"GNSS Reaserch Center of Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005541527","display_name":"Xiaoji Niu","orcid":"https://orcid.org/0000-0002-5591-0859"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoji Niu","raw_affiliation_strings":["GNSS Reaserch Center and the Hubei Luojia Laboratory, Wuhan University, Wuhan, China","GNSS Reaserch Center of Wuhan University, Wuhan, China","Hubei Luojia Laboratory, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5591-0859","affiliations":[{"raw_affiliation_string":"GNSS Reaserch Center and the Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"GNSS Reaserch Center of Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":5.458,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96019492,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"12","issue":"10","first_page":"14856","last_page":"14875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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/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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9914000034332275,"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/kalman-filter","display_name":"Kalman filter","score":0.857720136642456},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7878746390342712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7212612628936768},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6773917078971863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6484789848327637},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5894710421562195},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5527445673942566},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5163275599479675},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.5154024362564087},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4906379282474518},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.4205208122730255},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15883123874664307},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1489677131175995}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.857720136642456},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7878746390342712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7212612628936768},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6773917078971863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6484789848327637},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5894710421562195},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5527445673942566},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5163275599479675},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.5154024362564087},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4906379282474518},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.4205208122730255},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15883123874664307},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1489677131175995},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3526811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3526811","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":[],"awards":[{"id":"https://openalex.org/G1949814483","display_name":null,"funder_award_id":"42374034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3129829289","display_name":null,"funder_award_id":"2022YFB3903802","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1570939900","https://openalex.org/W1643815198","https://openalex.org/W1974678436","https://openalex.org/W1991793962","https://openalex.org/W1998314631","https://openalex.org/W2051349034","https://openalex.org/W2056358962","https://openalex.org/W2077751272","https://openalex.org/W2118223742","https://openalex.org/W2124647600","https://openalex.org/W2160537734","https://openalex.org/W2274359774","https://openalex.org/W2461937780","https://openalex.org/W2538522345","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2773447888","https://openalex.org/W2796916234","https://openalex.org/W2797395780","https://openalex.org/W2897875218","https://openalex.org/W2913367517","https://openalex.org/W2938170127","https://openalex.org/W2942369749","https://openalex.org/W2962987986","https://openalex.org/W2963566952","https://openalex.org/W2967494572","https://openalex.org/W2968125992","https://openalex.org/W2968489055","https://openalex.org/W3035035451","https://openalex.org/W3043943213","https://openalex.org/W3043971245","https://openalex.org/W3084873522","https://openalex.org/W3091667825","https://openalex.org/W3110923198","https://openalex.org/W3130066555","https://openalex.org/W3130800379","https://openalex.org/W4223983851","https://openalex.org/W4225773456","https://openalex.org/W4230766380","https://openalex.org/W4288062035","https://openalex.org/W4292338335","https://openalex.org/W4293812019","https://openalex.org/W4313449032","https://openalex.org/W4376456689","https://openalex.org/W4377103118","https://openalex.org/W4378697007","https://openalex.org/W4379620541","https://openalex.org/W4391697032","https://openalex.org/W4391892470","https://openalex.org/W6853188308"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Visual-inertial":[0],"state":[1],"estimation":[2],"is":[3,44],"widely":[4],"employed":[5],"in":[6,49,81,93,169],"the":[7,31,35,66,70,85,94,97,112,143],"Internet":[8],"of":[9,34,87,126],"Things,":[10],"with":[11],"filter-based":[12,71],"visual-inertial":[13],"odometry":[14],"(VIO)":[15],"being":[16],"a":[17,75,110,166],"popular":[18],"algorithm":[19,140],"due":[20],"to":[21,141,174,191],"its":[22,106],"balance":[23],"between":[24],"computational":[25],"efficiency":[26],"and":[27,54,61,73,90],"localization":[28,32],"accuracy.":[29],"However,":[30],"performance":[33,189],"commonly":[36],"used":[37],"multi-state":[38],"constraint":[39],"Kalman":[40,78],"filter":[41,79],"(MSCKF)-based":[42],"VIO":[43,72,160],"suffering":[45],"from":[46,105],"linearization":[47,113],"errors":[48,114,172],"feature":[50,91,102,117],"three-dimensional":[51],"(3D)":[52],"positions":[53,92,118],"delayed":[55],"measurement":[56,107],"updates.":[57],"Targeting":[58],"more":[59],"accurate":[60],"robust":[62],"localization,":[63],"we":[64],"incorporate":[65],"pose-only":[67,76,95],"representation":[68],"into":[69],"propose":[74],"representation-based":[77],"(PO-KF)":[80],"this":[82],"paper.":[83],"Leveraging":[84],"decoupling":[86],"camera":[88],"poses":[89],"representation,":[96],"proposed":[98],"PO-KF":[99,157,163,181],"explicitly":[100],"eliminates":[101],"3D":[103],"coordinates":[104],"equation.":[108],"As":[109],"result,":[111],"caused":[115],"by":[116],"can":[119,129],"be":[120,130],"removed":[121],"efficiently,":[122],"while":[123,186],"immediate":[124],"updates":[125],"visual":[127],"measurements":[128],"conducted.":[131],"We":[132],"also":[133,182],"introduce":[134],"an":[135],"information":[136],"matrix-derived":[137],"base-frame":[138],"selection":[139],"identify":[142],"most":[144],"suitable":[145],"base-frames":[146],"for":[147],"each":[148],"feature.":[149],"Extensive":[150],"experiments":[151,178],"on":[152],"multiple":[153],"datasets":[154],"demonstrate":[155,179],"that":[156,180],"outperforms":[158],"state-of-the-art":[159],"systems.":[161],"Notably,":[162],"achieves":[164],"nearly":[165],"50%":[167],"reduction":[168],"relative":[170],"pose":[171],"compared":[173],"MSCKF-based":[175,192],"VIO.":[176,193],"Further":[177],"exhibits":[183],"superior":[184],"robustness":[185],"maintaining":[187],"real-time":[188],"comparable":[190]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
