{"id":"https://openalex.org/W4319459257","doi":"https://doi.org/10.1109/lra.2023.3243520","title":"InGVIO: A Consistent Invariant Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry","display_name":"InGVIO: A Consistent Invariant Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry","publication_year":2023,"publication_date":"2023-02-08","ids":{"openalex":"https://openalex.org/W4319459257","doi":"https://doi.org/10.1109/lra.2023.3243520"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3243520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3243520","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/A5101784149","display_name":"Changwu Liu","orcid":"https://orcid.org/0000-0002-6151-1707"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changwu Liu","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6151-1707","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101712199","display_name":"Chen Jiang","orcid":"https://orcid.org/0000-0001-5204-8733"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Jiang","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5204-8733","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089513020","display_name":"Haowen Wang","orcid":"https://orcid.org/0000-0001-5767-8742"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haowen Wang","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5767-8742","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":26.7624,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.99460112,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"3","first_page":"1850","last_page":"1857"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9969000220298767,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6511365175247192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6037235260009766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5475127696990967},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5125701427459717},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5090503096580505},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.48423123359680176},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4413183927536011},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.43540680408477783},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41070088744163513},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.3034239411354065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2812076210975647},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17312556505203247},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11438208818435669},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.11247903108596802}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6511365175247192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6037235260009766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5475127696990967},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5125701427459717},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5090503096580505},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.48423123359680176},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4413183927536011},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.43540680408477783},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41070088744163513},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3034239411354065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2812076210975647},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17312556505203247},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11438208818435669},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.11247903108596802},{"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/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3243520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3243520","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":[{"display_name":"Reduced inequalities","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1486754293","https://openalex.org/W1943808550","https://openalex.org/W1974678436","https://openalex.org/W1990987766","https://openalex.org/W2051349034","https://openalex.org/W2058160370","https://openalex.org/W2069459553","https://openalex.org/W2072986918","https://openalex.org/W2118223742","https://openalex.org/W2215394929","https://openalex.org/W2569720095","https://openalex.org/W2592781794","https://openalex.org/W2754177129","https://openalex.org/W2900470576","https://openalex.org/W2962987986","https://openalex.org/W2963566952","https://openalex.org/W2968489055","https://openalex.org/W3000625188","https://openalex.org/W3091667825","https://openalex.org/W3108666777","https://openalex.org/W3120897329","https://openalex.org/W3131244788","https://openalex.org/W3138764046","https://openalex.org/W3205297214","https://openalex.org/W3206631491","https://openalex.org/W4206221290","https://openalex.org/W4229016243","https://openalex.org/W4243100138","https://openalex.org/W4285102496","https://openalex.org/W4285102531","https://openalex.org/W4285194770","https://openalex.org/W4288059702","https://openalex.org/W4293254176","https://openalex.org/W4383899755","https://openalex.org/W6688465322"],"related_works":["https://openalex.org/W3110195467","https://openalex.org/W4386936491","https://openalex.org/W3033823235","https://openalex.org/W2881093137","https://openalex.org/W2163330330","https://openalex.org/W1982137911","https://openalex.org/W2606296569","https://openalex.org/W4288060108","https://openalex.org/W2162299404","https://openalex.org/W2103062922"],"abstract_inverted_index":{"Combining":[0],"Global":[1],"Navigation":[2],"Satellite":[3],"System":[4],"(GNSS)":[5],"with":[6,27,60,164,199,230],"visual":[7],"and":[8,119,148,172,194,204],"inertial":[9],"sensors":[10],"can":[11],"give":[12],"smooth":[13],"pose":[14],"estimation":[15],"without":[16,184],"drifting.":[17],"The":[18,209],"fusion":[19],"system":[20,118],"gradually":[21],"degrades":[22],"to":[23,53,76,91,212,223],"Visual-Inertial":[24],"Odometry":[25],"(VIO)":[26],"the":[28,82,96,113,117,121,131,135,143,149,157,213,219,224],"number":[29],"of":[30,72,88,116,124,134,145,151,170,202,207,215],"satellites":[31],"decreasing,":[32],"which":[33,138],"guarantees":[34],"robust":[35],"global":[36],"navigation":[37],"in":[38,70],"GNSS":[39],"unfriendly":[40],"environments.":[41],"In":[42],"this":[43],"letter,":[44],"we":[45,111],"propose":[46],"an":[47],"open-sourced":[48,222],"invariant":[49,159],"filter-based":[50],"platform,":[51],"InGVIO,":[52],"tightly":[54],"fuse":[55],"monocular/stereo":[56],"visual-inertial":[57],"measurements,":[58],"along":[59],"raw":[61,231],"data":[62],"from":[63,130],"GNSS.":[64,232],"InGVIO":[65,171,178,187],"gives":[66,140],"highly":[67],"competitive":[68],"results":[69,141],"terms":[71],"computational":[73],"load":[74],"compared":[75],"current":[77],"graph-based":[78],"algorithms,":[79],"meanwhile":[80],"possessing":[81],"same":[83],"or":[84],"even":[85],"better":[86],"level":[87],"accuracy.":[89],"Thanks":[90],"our":[92,195,216],"proposed":[93,196],"marginalization":[94],"strategies,":[95],"baseline":[97],"for":[98,142],"triangulation":[99],"is":[100,161,188],"large":[101],"although":[102],"only":[103],"a":[104,227],"few":[105],"cloned":[106],"poses":[107],"are":[108,218],"kept.":[109],"Moreover,":[110],"define":[112],"infinitesimal":[114],"symmetries":[115,133],"exploit":[120],"various":[122,205],"structures":[123,169],"its":[125],"symmetry":[126,167],"group,":[127],"being":[128],"different":[129],"total":[132],"VIO":[136],"case,":[137],"elegantly":[139],"pattern":[144],"degenerate":[146],"motions":[147],"structure":[150],"unobservable":[152],"subspaces.":[153],"We":[154],"prove":[155],"that":[156],"properly-chosen":[158],"error":[160,182],"still":[162],"compatible":[163],"all":[165],"possible":[166],"group":[168],"has":[173,179],"intrinsic":[174],"consistency":[175],"properties.":[176],"Besides,":[177],"strictly":[180],"linear":[181],"propagation":[183],"linearization":[185],"error.":[186],"tested":[189],"on":[190,226],"both":[191],"open":[192],"datasets":[193,198,221],"fixed-wing":[197,228],"variable":[200],"levels":[201],"difficulty":[203],"numbers":[206],"satellites.":[208],"latter":[210],"datasets,":[211],"best":[214],"knowledge,":[217],"first":[220],"community":[225],"aircraft":[229]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2023-02-09T00:00:00"}
