{"id":"https://openalex.org/W3199417960","doi":"https://doi.org/10.1109/lra.2021.3137910","title":"Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry","display_name":"Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry","publication_year":2021,"publication_date":"2021-12-23","ids":{"openalex":"https://openalex.org/W3199417960","doi":"https://doi.org/10.1109/lra.2021.3137910","mag":"3199417960"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3137910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3137910","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.05975","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062050411","display_name":"Lintong Zhang","orcid":"https://orcid.org/0000-0001-7008-0876"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Lintong Zhang","raw_affiliation_strings":["Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7008-0876","affiliations":[{"raw_affiliation_string":"Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088333921","display_name":"David Wisth","orcid":"https://orcid.org/0000-0002-2108-5184"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"David Wisth","raw_affiliation_strings":["Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2108-5184","affiliations":[{"raw_affiliation_string":"Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061050995","display_name":"Marco Camurri","orcid":"https://orcid.org/0000-0003-2675-9421"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marco Camurri","raw_affiliation_strings":["Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2675-9421","affiliations":[{"raw_affiliation_string":"Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2940-0879","affiliations":[{"raw_affiliation_string":"Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062050411"],"corresponding_institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"],"apc_list":null,"apc_paid":null,"fwci":21.9508,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.98940988,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"1182","last_page":"1189"},"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":0.9990000128746033,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.996399998664856,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8232796788215637},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8186309337615967},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7565934658050537},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7274562120437622},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6697328090667725},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5940009951591492},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5046793222427368},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.45092153549194336},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.429984450340271},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31074339151382446},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17603260278701782}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8232796788215637},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8186309337615967},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7565934658050537},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7274562120437622},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6697328090667725},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5940009951591492},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5046793222427368},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.45092153549194336},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.429984450340271},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31074339151382446},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17603260278701782},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2021.3137910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3137910","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"},{"id":"pmh:oai:arXiv.org:2109.05975","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.05975","pdf_url":"https://arxiv.org/pdf/2109.05975","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:oai:iris.unitn.it:11572/433417","is_oa":true,"landing_page_url":"https://hdl.handle.net/11572/433417","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:9a902291-4cd2-4a16-a0fc-75ccc3c6b368","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:9a902291-4cd2-4a16-a0fc-75ccc3c6b368","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Journal article"},{"id":"pmh:oai:unibz.it:11316927320001241","is_oa":true,"landing_page_url":"https://bia.unibz.it/esploro/outputs/journalArticle/Balancing-the-Budget-Feature-Selection-and/991006785693401241","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.05975","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.05975","pdf_url":"https://arxiv.org/pdf/2109.05975","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G4483049737","display_name":null,"funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334245","funder_display_name":"Offshore Robotics for Certification of Assets"},{"id":"https://openalex.org/G7331901853","display_name":null,"funder_award_id":"EU H2020","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320317153","display_name":"DeepMind","ror":"https://ror.org/00971b260"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334245","display_name":"Offshore Robotics for Certification of Assets","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1539091696","https://openalex.org/W1757790940","https://openalex.org/W2033819227","https://openalex.org/W2091790851","https://openalex.org/W2154459632","https://openalex.org/W2209124607","https://openalex.org/W2418849765","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2549216668","https://openalex.org/W2564632156","https://openalex.org/W2745859992","https://openalex.org/W2746349752","https://openalex.org/W2883702102","https://openalex.org/W2899887623","https://openalex.org/W2909147962","https://openalex.org/W2909178302","https://openalex.org/W2910508725","https://openalex.org/W2955488403","https://openalex.org/W2998181467","https://openalex.org/W3009366886","https://openalex.org/W3043971245","https://openalex.org/W3044457298","https://openalex.org/W3090781369","https://openalex.org/W3091667825","https://openalex.org/W3098410961","https://openalex.org/W3102327032","https://openalex.org/W3106122163","https://openalex.org/W3125449081","https://openalex.org/W3126830741","https://openalex.org/W3132051121","https://openalex.org/W3132401233","https://openalex.org/W3134432446","https://openalex.org/W3165610079","https://openalex.org/W3178901079","https://openalex.org/W3182193940","https://openalex.org/W4226070730","https://openalex.org/W4230766380","https://openalex.org/W4250058668","https://openalex.org/W4285053689","https://openalex.org/W4292070111","https://openalex.org/W6810916989"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"We":[0,27,139],"present":[1],"a":[2,22,116,125,144,163],"multi-camera":[3,87],"visual-inertial":[4,201],"odometry":[5,55,202],"system":[6],"based":[7],"on":[8,29],"factor":[9,119],"graph":[10,120],"optimization":[11,137],"which":[12],"estimates":[13],"motion":[14,30,60],"by":[15,213],"using":[16,143,162],"all":[17],"cameras":[18,63,133,172],"simultaneously":[19],"while":[20],"retaining":[21],"fixed":[23,126],"overall":[24],"feature":[25,88],"budget.":[26],"focus":[28],"tracking":[31,59,93,154],"in":[32,96,180,217,221],"challenging":[33],"environments,":[34],"such":[35],"as":[36,103],"narrow":[37,193],"corridors,":[38],"dark":[39],"spaces":[40],"with":[41,61,192],"aggressive":[42],"motions,":[43],"and":[44,73,114,170,177,189,195,219],"abrupt":[45],"lighting":[46],"changes.":[47],"These":[48],"scenarios":[49,181],"cause":[50],"traditional":[51],"monocular":[52],"or":[53],"stereo":[54,175],"to":[56,70,85,109,134,198,215],"fail.":[57],"While":[58],"extra":[62],"should":[64],"theoretically":[65],"prevent":[66],"failures,":[67],"it":[68],"leads":[69],"additional":[71],"complexity":[72],"computational":[74],"burden.":[75],"To":[76],"overcome":[77],"these":[78],"challenges,":[79],"we":[80,99,123],"introduce":[81],"two":[82,178],"novel":[83],"methods":[84],"improve":[86],"tracking.":[89],"First,":[90],"instead":[91],"of":[92,128,147,167],"features":[94,101,130,149],"separately":[95],"each":[97],"camera,":[98],"track":[100],"continuously":[102],"they":[104],"move":[105],"from":[106],"one":[107],"camera":[108],"another.":[110],"This":[111],"increases":[112],"accuracy":[113],"achieves":[115],"more":[117],"compact":[118],"representation.":[121],"Second,":[122],"select":[124],"budget":[127],"tracked":[129],"across":[131],"the":[132,152,207],"reduce":[135],"back-end":[136],"time.":[138],"have":[140],"found":[141],"that":[142],"smaller":[145],"set":[146],"informative":[148],"can":[150],"maintain":[151],"same":[153],"accuracy.":[155],"Our":[156],"proposed":[157],"method":[158],"was":[159],"extensively":[160],"tested":[161],"hardware-synchronized":[164],"device":[165],"consisting":[166],"an":[168,183],"IMU":[169],"four":[171],"(a":[173],"front":[174],"pair":[176],"lateral)":[179],"including:":[182],"underground":[184],"mine,":[185],"large":[186],"open":[187],"spaces,":[188],"building":[190],"interiors":[191],"stairs":[194],"corridors.":[196],"Compared":[197],"stereo-only":[199],"state-of-the-art":[200],"methods,":[203],"our":[204],"approach":[205],"reduces":[206],"drift":[208],"rate,":[209],"relative":[210],"pose":[211],"error,":[212],"up":[214],"80%":[216],"translation":[218],"39%":[220],"rotation.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5}],"updated_date":"2026-06-04T09:04:59.091469","created_date":"2025-10-10T00:00:00"}
