{"id":"https://openalex.org/W2962987986","doi":"https://doi.org/10.1109/lra.2018.2793349","title":"Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight","display_name":"Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight","publication_year":2018,"publication_date":"2018-01-15","ids":{"openalex":"https://openalex.org/W2962987986","doi":"https://doi.org/10.1109/lra.2018.2793349","mag":"2962987986"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2793349","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2793349","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation 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/A5101995875","display_name":"Ke Sun","orcid":"https://orcid.org/0000-0002-0188-9361"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ke Sun","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia,, USA"],"raw_orcid":"https://orcid.org/0000-0002-0188-9361","affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia,, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030457220","display_name":"Kartik Mohta","orcid":"https://orcid.org/0000-0002-0932-6475"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kartik Mohta","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia,, USA"],"raw_orcid":"https://orcid.org/0000-0002-0932-6475","affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia,, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015659136","display_name":"Bernd Pfrommer","orcid":"https://orcid.org/0000-0002-3852-3240"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bernd Pfrommer","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia,, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia,, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016153957","display_name":"Michael Watterson","orcid":"https://orcid.org/0000-0003-2639-3669"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Watterson","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia,, USA"],"raw_orcid":"https://orcid.org/0000-0003-2639-3669","affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia,, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013971357","display_name":"Sikang Liu","orcid":"https://orcid.org/0000-0002-5646-9567"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sikang Liu","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia,, USA"],"raw_orcid":"https://orcid.org/0000-0002-5646-9567","affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia,, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087249519","display_name":"Yash Mulgaonkar","orcid":"https://orcid.org/0000-0002-5330-1208"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Mulgaonkar","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia,, USA"],"raw_orcid":"https://orcid.org/0000-0002-5330-1208","affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia,, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036660535","display_name":"Camillo J. Taylor","orcid":"https://orcid.org/0000-0002-9332-5087"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Camillo J. Taylor","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia,, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia,, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112769739","display_name":"Vijay Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia,, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia,, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101995875"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":452.5887,"has_fulltext":false,"cited_by_count":531,"citation_normalized_percentile":{"value":0.99994266,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"3","issue":"2","first_page":"965","last_page":"972"},"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":0.9979000091552734,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/odometry","display_name":"Odometry","score":0.9110920429229736},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.766444742679596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7167826890945435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.683351993560791},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6723268628120422},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6682610511779785},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5983894467353821},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5691722631454468},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5484306812286377},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5419943332672119},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5013391971588135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43921995162963867},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4227752685546875},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2064734399318695}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9110920429229736},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.766444742679596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7167826890945435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.683351993560791},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6723268628120422},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6682610511779785},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5983894467353821},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5691722631454468},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5484306812286377},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5419943332672119},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5013391971588135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43921995162963867},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4227752685546875},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2064734399318695},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2793349","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2793349","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4300000071525574}],"awards":[{"id":"https://openalex.org/G2814811871","display_name":null,"funder_award_id":"W911NF-08-2-0004","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G3486978346","display_name":null,"funder_award_id":"HR001151626","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G719284172","display_name":null,"funder_award_id":"HR0011516850","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"}],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1582490225","https://openalex.org/W1968315983","https://openalex.org/W1970504153","https://openalex.org/W1981699551","https://openalex.org/W2012319351","https://openalex.org/W2024676408","https://openalex.org/W2027055074","https://openalex.org/W2049750053","https://openalex.org/W2051349034","https://openalex.org/W2056358962","https://openalex.org/W2061319289","https://openalex.org/W2069295011","https://openalex.org/W2091790851","https://openalex.org/W2111308925","https://openalex.org/W2113906280","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2141584146","https://openalex.org/W2147536420","https://openalex.org/W2168676389","https://openalex.org/W2214788824","https://openalex.org/W2274359774","https://openalex.org/W2276677361","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2411412724","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2736926039","https://openalex.org/W2737926097","https://openalex.org/W3102327032","https://openalex.org/W4242126084","https://openalex.org/W4246614213","https://openalex.org/W6618872416","https://openalex.org/W6677548441","https://openalex.org/W6677871018","https://openalex.org/W6721610202"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"In":[0,57],"recent":[1],"years,":[2],"vision-aided":[3],"inertial":[4,66,81],"odometry":[5,67,82],"for":[6,30],"state":[7],"estimation":[8],"has":[9,83],"matured":[10],"significantly.":[11],"However,":[12],"we":[13,60],"still":[14],"encounter":[15],"challenges":[16],"in":[17,32,38,85,107,154],"terms":[18,108],"of":[19,26,51,109,151,161],"improving":[20],"the":[21,27,70,78,135,162],"computational":[22,110],"efficiency":[23],"and":[24,47,55,122,131,138,156],"robustness":[25],"underlying":[28],"algorithms":[29],"applications":[31],"autonomous":[33,145],"flight":[34,146],"with":[35,125,147],"microaerial":[36],"vehicles,":[37],"which":[39],"it":[40,124],"is":[41,101,164],"difficult":[42],"to":[43,103],"use":[44],"high-quality":[45],"sensors":[46],"powerful":[48],"processors":[49],"because":[50],"constraints":[52],"on":[53,77,133],"size":[54],"weight.":[56],"this":[58],"letter,":[59],"present":[61],"a":[62,148],"filter-based":[63],"stereo":[64,79,95],"visual":[65,80],"that":[68,87,93],"uses":[69],"multistate":[71,96],"constraint":[72,97],"Kalman":[73,98],"filter.":[74],"Previous":[75],"work":[76],"resulted":[84],"solutions":[86,106],"are":[88],"computationally":[89],"expensive.":[90],"We":[91,117],"demonstrate":[92],"our":[94,119,139],"filter":[99],"(S-MSCKF)":[100],"comparable":[102],"state-of-the-art":[104,126],"monocular":[105],"cost,":[111],"while":[112],"providing":[113],"significantly":[114],"greater":[115],"robustness.":[116],"evaluate":[118],"S-MSCKF":[120,163],"algorithm":[121],"compare":[123],"methods":[127],"including":[128],"OKVIS,":[129],"ROVIO,":[130],"VINS-MONO":[132],"both":[134],"EuRoC":[136],"dataset":[137],"own":[140],"experimental":[141],"datasets":[142],"demonstrating":[143],"fast":[144],"maximum":[149],"speed":[150],"17.5":[152],"m/s":[153],"indoor":[155],"outdoor":[157],"environments.":[158],"Our":[159],"implementation":[160],"available":[165],"at":[166],"https://github.com/KumarRobotics/msckf_vio.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":68},{"year":2024,"cited_by_count":72},{"year":2023,"cited_by_count":83},{"year":2022,"cited_by_count":84},{"year":2021,"cited_by_count":69},{"year":2020,"cited_by_count":77},{"year":2019,"cited_by_count":57},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":1}],"updated_date":"2026-05-18T08:16:58.900851","created_date":"2025-10-10T00:00:00"}