{"id":"https://openalex.org/W4316021892","doi":"https://doi.org/10.1109/lgrs.2023.3236803","title":"GNSS Reconstrainted Visual\u2013Inertial Odometry System Using Factor Graphs","display_name":"GNSS Reconstrainted Visual\u2013Inertial Odometry System Using Factor Graphs","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4316021892","doi":"https://doi.org/10.1109/lgrs.2023.3236803"},"language":"en","primary_location":{"id":"doi:10.1109/lgrs.2023.3236803","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lgrs.2023.3236803","pdf_url":null,"source":{"id":"https://openalex.org/S126920919","display_name":"IEEE Geoscience and Remote Sensing Letters","issn_l":"1545-598X","issn":["1545-598X","1558-0571"],"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 Geoscience and Remote Sensing Letters","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/A5101835714","display_name":"Yu Chen","orcid":"https://orcid.org/0000-0002-2825-6767"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yu Chen","raw_affiliation_strings":["School of Geomatics and Technology, Nanjing Tech University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Geomatics and Technology, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102800174","display_name":"Bo Xu","orcid":"https://orcid.org/0000-0002-3640-0562"},"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":"Bo Xu","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082439183","display_name":"Bin Wang","orcid":"https://orcid.org/0000-0001-5609-1149"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Wang","raw_affiliation_strings":["School of Geomatics and Technology, Nanjing Tech University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Geomatics and Technology, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072003794","display_name":"Jiaming Na","orcid":"https://orcid.org/0000-0002-6696-975X"},"institutions":[{"id":"https://openalex.org/I167027274","display_name":"Nanjing Forestry University","ror":"https://ror.org/03m96p165","country_code":"CN","type":"education","lineage":["https://openalex.org/I167027274"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Na","raw_affiliation_strings":["College of Civil Engineering, Nanjing Forestry University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Civil Engineering, Nanjing Forestry University, Nanjing, China","institution_ids":["https://openalex.org/I167027274"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101930212","display_name":"Pei Yang","orcid":"https://orcid.org/0000-0003-1024-3551"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pei Yang","raw_affiliation_strings":["School of Geomatics and Technology, Nanjing Tech University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Geomatics and Technology, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101835714"],"corresponding_institution_ids":["https://openalex.org/I134687103"],"apc_list":null,"apc_paid":null,"fwci":4.5236,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.93999871,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"20","issue":null,"first_page":"1","last_page":"5"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9958000183105469,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9912999868392944,"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/computer-vision","display_name":"Computer vision","score":0.777775228023529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7601319551467896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7243284583091736},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6503762006759644},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6466835737228394},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6024832725524902},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5983942747116089},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.5815750956535339},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5470205545425415},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.49336686730384827},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.46482542157173157},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4495285749435425},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39650899171829224},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.24035000801086426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20817235112190247},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.18061023950576782},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09541890025138855}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.777775228023529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7601319551467896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7243284583091736},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6503762006759644},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6466835737228394},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6024832725524902},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5983942747116089},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.5815750956535339},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5470205545425415},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.49336686730384827},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.46482542157173157},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4495285749435425},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39650899171829224},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.24035000801086426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20817235112190247},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.18061023950576782},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09541890025138855},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lgrs.2023.3236803","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lgrs.2023.3236803","pdf_url":null,"source":{"id":"https://openalex.org/S126920919","display_name":"IEEE Geoscience and Remote Sensing Letters","issn_l":"1545-598X","issn":["1545-598X","1558-0571"],"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 Geoscience and Remote Sensing Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5845316614","display_name":null,"funder_award_id":"42004002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2103216907","https://openalex.org/W2117228865","https://openalex.org/W2123224489","https://openalex.org/W2137813581","https://openalex.org/W2143062563","https://openalex.org/W2153605832","https://openalex.org/W2599547390","https://openalex.org/W2745859992","https://openalex.org/W2775298546","https://openalex.org/W2904774952","https://openalex.org/W2987550177","https://openalex.org/W3001698620","https://openalex.org/W3043971245","https://openalex.org/W3084337684"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Monocular":[0],"vision":[1],"sensors":[2],"are":[3,148],"often":[4],"affected":[5],"by":[6,30,145],"the":[7,19,31,45,50,55,62,65,68,82,89,97,105,123,128,140,157],"rapid":[8],"direction":[9],"change":[10,17],"in":[11,67],"load":[12],"platform":[13],"and":[14,52,102,151,153],"violent":[15],"illumination":[16],"when":[18],"mobile":[20],"device":[21],"moves":[22],"autonomously":[23],"with":[24,44],"high":[25],"maneuverability.":[26],"The":[27,79],"images":[28],"collected":[29],"visual":[32,56,83],"sensor":[33],"will":[34],"also":[35],"have":[36],"a":[37,72,113,132],"lot":[38],"of":[39,54,64,134],"dynamic":[40],"blur,":[41],"which":[42],"together":[43],"weak":[46],"texture":[47],"environment":[48],"reduces":[49],"continuity":[51],"accuracy":[53],"autonomous":[57,159],"navigation":[58,77,107,160],"system.":[59],"To":[60],"enhance":[61],"stability":[63],"system,":[66],"letter,":[69],"we":[70],"propose":[71],"vision-led":[73],"multisource":[74],"data":[75,111],"fusion":[76],"algorithm.":[78],"system":[80,109],"combines":[81],"information":[84,95],"for":[85,100],"trajectory":[86,124,141],"estimation,":[87],"adds":[88],"inertial":[90],"measurement":[91,94],"unit":[92],"(IMU)":[93],"to":[96,120],"sliding":[98],"window":[99],"optimization,":[101],"finally":[103],"uses":[104],"global":[106],"satellite":[108],"(GNSS)":[110],"as":[112],"reconstraint":[114],"condition":[115],"through":[116],"factor":[117],"graph":[118],"optimization":[119],"further":[121],"optimize":[122],"accuracy.":[125],"Experiments":[126],"on":[127],"public":[129],"datasets":[130],"containing":[131],"variety":[133],"different":[135],"scene":[136],"categories":[137],"show":[138],"that":[139],"tracking":[142],"results":[143],"generated":[144],"our":[146],"algorithm":[147],"more":[149],"complete":[150],"stable":[152],"can":[154],"better":[155],"meet":[156],"system\u2019s":[158],"requirements.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
