{"id":"https://openalex.org/W4321194398","doi":"https://doi.org/10.1109/lra.2023.3246381","title":"Edge-Based Monocular Thermal-Inertial Odometry in Visually Degraded Environments","display_name":"Edge-Based Monocular Thermal-Inertial Odometry in Visually Degraded Environments","publication_year":2023,"publication_date":"2023-02-17","ids":{"openalex":"https://openalex.org/W4321194398","doi":"https://doi.org/10.1109/lra.2023.3246381"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3246381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3246381","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/A5115602729","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0002-9029-1846"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072197068","display_name":"Haoyao Chen","orcid":"https://orcid.org/0000-0003-1652-9681"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyao Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1652-9681","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376620","display_name":"Yufeng Liu","orcid":"https://orcid.org/0000-0002-5988-0298"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Liu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061049387","display_name":"Shiwu Zhang","orcid":"https://orcid.org/0000-0001-7118-7704"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiwu Zhang","raw_affiliation_strings":["Department of Precision Mechinery and Precision Instrumentation, University of Science and Technology of China, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0001-7118-7704","affiliations":[{"raw_affiliation_string":"Department of Precision Mechinery and Precision Instrumentation, University of Science and Technology of China, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.7311,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.9909373,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":"4","first_page":"2078","last_page":"2085"},"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":0.9988999962806702,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9973999857902527,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8232176899909973},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.793286919593811},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.7373766899108887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6535312533378601},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.648808479309082},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6365038156509399},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6228765249252319},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4950808584690094},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4920155704021454},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2883604168891907},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14178255200386047},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13996711373329163}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8232176899909973},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.793286919593811},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.7373766899108887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6535312533378601},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.648808479309082},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6365038156509399},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6228765249252319},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4950808584690094},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4920155704021454},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2883604168891907},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14178255200386047},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13996711373329163}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3246381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3246381","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":[{"id":"https://metadata.un.org/sdg/1","score":0.5899999737739563,"display_name":"No poverty"}],"awards":[{"id":"https://openalex.org/G122172205","display_name":null,"funder_award_id":"U21A20119","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3980671298","display_name":null,"funder_award_id":"U1713206","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1530110590","https://openalex.org/W2058371648","https://openalex.org/W2088888418","https://openalex.org/W2215578878","https://openalex.org/W2409387737","https://openalex.org/W2482726005","https://openalex.org/W2586301170","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2773890870","https://openalex.org/W2898182017","https://openalex.org/W2951180290","https://openalex.org/W2963854007","https://openalex.org/W2964648456","https://openalex.org/W2964794620","https://openalex.org/W2997532328","https://openalex.org/W3001696250","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3092045196","https://openalex.org/W3125449081","https://openalex.org/W3129883472","https://openalex.org/W3206894441","https://openalex.org/W3217174651","https://openalex.org/W4205544116","https://openalex.org/W4210423514","https://openalex.org/W4285255621","https://openalex.org/W6784410685","https://openalex.org/W7061902761"],"related_works":["https://openalex.org/W2414561716","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2981103992","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W3200674214"],"abstract_inverted_index":{"State":[0],"estimation":[1,90,110,148,202],"in":[2,91],"complex":[3],"illumination":[4,39],"environments":[5],"based":[6,132],"on":[7,133,176],"conventional":[8],"visual-inertial":[9],"odometry":[10],"is":[11,29,35,126],"a":[12,142,150],"challenging":[13],"task":[14],"due":[15],"to":[16,111,196],"the":[17,22,51,63,72,76,81,97,102,113,170,173,194],"severe":[18],"visual":[19,23,44],"degradation":[20],"of":[21,31,74,96,153,163,172],"camera.":[24],"The":[25,188],"thermal":[26,52,66,115],"infrared":[27,53,116],"camera":[28],"capable":[30],"all-day":[32,203],"time":[33],"and":[34,58,137,179,182,199],"less":[36],"affected":[37],"by":[38,62,156],"variation.":[40],"However,":[41],"most":[42,69],"existing":[43],"data":[45,54,130],"association":[46,131],"algorithms":[47],"are":[48],"incompatible":[49],"because":[50],"contains":[55],"large":[56],"noise":[57],"low":[59],"contrast.":[60],"Motivated":[61],"phenomenon":[64],"that":[65],"radiation":[67],"varies":[68],"significantly":[70],"at":[71],"edges":[73],"objects,":[75],"study":[77],"proposes":[78],"an":[79,120],"ETIO,":[80],"first":[82],"edge-based":[83],"monocular":[84],"thermal-inertial":[85],"odometry,":[86],"for":[87,108,128],"robust":[88,129,200],"state":[89,201],"visually":[92],"degraded":[93],"environments.":[94],"Instead":[95],"raw":[98],"image,":[99],"we":[100],"utilize":[101],"binarized":[103],"image":[104,117],"from":[105],"edge":[106,135,165],"extraction":[107],"pose":[109,143],"overcome":[112],"poor":[114],"quality.":[118],"Then,":[119],"adaptive":[121],"feature":[122,166],"tracking":[123],"strategy":[124],"ADT-KLT":[125],"developed":[127],"limited":[134],"information":[136],"its":[138],"distance":[139],"distribution.":[140],"Finally,":[141],"graph":[144],"optimization":[145],"performs":[146],"real-time":[147],"over":[149],"sliding":[151],"window":[152],"recent":[154],"states":[155],"combining":[157],"IMU":[158],"pre-integration":[159],"with":[160,193],"reprojection":[161],"error":[162],"all":[164],"observations.":[167],"We":[168],"evaluated":[169],"performance":[171],"proposed":[174,189],"system":[175],"public":[177],"datasets":[178],"real-world":[180],"experiments":[181],"compared":[183],"it":[184],"against":[185],"state-of-the-art":[186],"methods.":[187],"ETIO":[190],"was":[191],"verified":[192],"ability":[195],"enable":[197],"accurate":[198],"time.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
