{"id":"https://openalex.org/W4313449032","doi":"https://doi.org/10.1109/lra.2022.3224367","title":"IC-GVINS: A Robust, Real-Time, INS-Centric GNSS-Visual-Inertial Navigation System","display_name":"IC-GVINS: A Robust, Real-Time, INS-Centric GNSS-Visual-Inertial Navigation System","publication_year":2022,"publication_date":"2022-11-24","ids":{"openalex":"https://openalex.org/W4313449032","doi":"https://doi.org/10.1109/lra.2022.3224367"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3224367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3224367","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/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 Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5591-0859","affiliations":[{"raw_affiliation_string":"GNSS Research Center, 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"],"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"]}]},{"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 Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-7602-0428","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108394309","display_name":"Jing Fan","orcid":null},"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":"Jing Fan","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101705110","display_name":"Jingnan Liu","orcid":"https://orcid.org/0000-0003-2614-9113"},"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":"Jingnan Liu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2614-9113","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"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":51.368,"has_fulltext":false,"cited_by_count":111,"citation_normalized_percentile":{"value":0.99866191,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"1","first_page":"216","last_page":"223"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.806381344795227},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7258684635162354},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6821708679199219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6650195121765137},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6031906604766846},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5994113683700562},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5574129223823547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5392574071884155},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.4847118854522705},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.445825457572937},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.40531933307647705},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3893200159072876},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.2750466465950012}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.806381344795227},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7258684635162354},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6821708679199219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6650195121765137},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6031906604766846},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5994113683700562},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5574129223823547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5392574071884155},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.4847118854522705},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.445825457572937},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.40531933307647705},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3893200159072876},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2750466465950012},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3224367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3224367","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[{"id":"https://openalex.org/G6235812104","display_name":null,"funder_award_id":"41974024","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":29,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1579438189","https://openalex.org/W2118223742","https://openalex.org/W2182229738","https://openalex.org/W2418849765","https://openalex.org/W2461937780","https://openalex.org/W2559327209","https://openalex.org/W2609532991","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2938170127","https://openalex.org/W2963813675","https://openalex.org/W2968489055","https://openalex.org/W2997495511","https://openalex.org/W3003885710","https://openalex.org/W3043971245","https://openalex.org/W3090386798","https://openalex.org/W3091667825","https://openalex.org/W3098250009","https://openalex.org/W3124420883","https://openalex.org/W3138764046","https://openalex.org/W3200820839","https://openalex.org/W3205249702","https://openalex.org/W4221165663","https://openalex.org/W4288062035","https://openalex.org/W4394659040","https://openalex.org/W6737309142","https://openalex.org/W6810169157","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W4313886815","https://openalex.org/W2038183074","https://openalex.org/W2773722138","https://openalex.org/W3175435015","https://openalex.org/W4306940720","https://openalex.org/W2383573797","https://openalex.org/W2391372675","https://openalex.org/W2933126904","https://openalex.org/W2955781955","https://openalex.org/W2518495359"],"abstract_inverted_index":{"Visual":[0],"navigation":[1,10,28,32],"systems":[2,11],"are":[3,13,91],"susceptible":[4],"to":[5,34,49,73,117,148],"complex":[6,133],"environments,":[7],"while":[8],"inertial":[9,55],"(INS)":[12],"not":[14],"affected":[15],"by":[16],"external":[17],"factors.":[18],"Hence,":[19],"we":[20],"present":[21],"IC-GVINS,":[22],"a":[23,82,95],"robust,":[24],"real-time,":[25],"INS-centric":[26,140],"global":[27],"satellite":[29],"system":[30,33,62],"(GNSS)-visual-inertial":[31],"fully":[35],"utilize":[36],"the":[37,47,51,61,67,75,85,100,110,119,139,149],"INS":[38,48,69],"advantages.":[39],"The":[40,122,135],"Earth":[41],"rotation":[42],"has":[43],"been":[44],"compensated":[45],"in":[46,64,94,109,132],"improve":[50],"accuracy":[52,131,146],"of":[53],"high-grade":[54],"measurement":[56],"units":[57],"(IMUs).":[58],"To":[59],"promote":[60],"robustness":[63,129,144],"high-dynamic":[65],"conditions,":[66],"precise":[68],"information":[70],"is":[71],"employed":[72],"assist":[74],"feature":[76],"tracking":[77],"and":[78,88,113,130,145],"landmark":[79],"triangulation.":[80],"With":[81],"GNSS-aided":[83],"initialization,":[84],"IMU,":[86],"visual,":[87],"GNSS":[89],"measurements":[90],"tightly":[92],"fused":[93],"unified":[96],"world":[97],"frame":[98],"within":[99],"factor":[101],"graph":[102],"optimization":[103],"framework.":[104],"Dedicated":[105],"experiments":[106],"were":[107],"conducted":[108],"public":[111],"vehicle":[112],"private":[114],"robot":[115],"datasets":[116],"evaluate":[118],"proposed":[120,136],"method.":[121],"results":[123],"demonstrate":[124],"that":[125],"IC-GVINS":[126],"exhibits":[127],"superior":[128],"environments.":[134],"method":[137],"with":[138],"architecture":[141],"yields":[142],"improved":[143],"compared":[147],"state-of-the-art":[150],"methods.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":20},{"year":2025,"cited_by_count":48},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":17}],"updated_date":"2026-08-03T07:22:36.454288","created_date":"2025-10-10T00:00:00"}