{"id":"https://openalex.org/W4388919336","doi":"https://doi.org/10.1109/lra.2023.3335772","title":"Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation","display_name":"Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation","publication_year":2023,"publication_date":"2023-11-22","ids":{"openalex":"https://openalex.org/W4388919336","doi":"https://doi.org/10.1109/lra.2023.3335772"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3335772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335772","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/A5046785361","display_name":"Abhishek Goudar","orcid":"https://orcid.org/0000-0002-4438-5876"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["CA","DE"],"is_corresponding":true,"raw_author_name":"Abhishek Goudar","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, M&#x00FC;nchen, Germany","Vector Institute for Artificial Intelligence, Toronto, ON, Canada","University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Vector Institute for Artificial Intelligence, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014765403","display_name":"Wenda Zhao","orcid":"https://orcid.org/0000-0002-4288-0582"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["CA","DE"],"is_corresponding":false,"raw_author_name":"Wenda Zhao","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, M&#x00FC;nchen, Germany","Vector Institute for Artificial Intelligence, Toronto, ON, Canada","University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Vector Institute for Artificial Intelligence, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["CA","DE"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, M&#x00FC;nchen, Germany","Vector Institute for Artificial Intelligence, Toronto, ON, Canada","University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Vector Institute for Artificial Intelligence, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5046785361"],"corresponding_institution_ids":["https://openalex.org/I185261750","https://openalex.org/I4210127509","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":11.4404,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.97877994,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"683","last_page":"690"},"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":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9962999820709229,"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/odometry","display_name":"Odometry","score":0.8030592203140259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6842139363288879},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6317143440246582},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5864458084106445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5693422555923462},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5588638186454773},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4796772003173828},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4678163230419159},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.41077107191085815},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36977991461753845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34310680627822876},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2838539183139801},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16526290774345398}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8030592203140259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6842139363288879},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6317143440246582},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5864458084106445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5693422555923462},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5588638186454773},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4796772003173828},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4678163230419159},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.41077107191085815},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36977991461753845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34310680627822876},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2838539183139801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16526290774345398},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3335772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335772","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1521464635","https://openalex.org/W1634692259","https://openalex.org/W1755286780","https://openalex.org/W1981677465","https://openalex.org/W2038166203","https://openalex.org/W2099287185","https://openalex.org/W2115969888","https://openalex.org/W2127752689","https://openalex.org/W2155653863","https://openalex.org/W2204930965","https://openalex.org/W2284951713","https://openalex.org/W2295255295","https://openalex.org/W2482726005","https://openalex.org/W2745007981","https://openalex.org/W2761553684","https://openalex.org/W2767152011","https://openalex.org/W2792006036","https://openalex.org/W2884280313","https://openalex.org/W2904667054","https://openalex.org/W2968591482","https://openalex.org/W2992519434","https://openalex.org/W2999783739","https://openalex.org/W3104793674","https://openalex.org/W3125449081","https://openalex.org/W3127901219","https://openalex.org/W3130901132","https://openalex.org/W3134172943","https://openalex.org/W3160079326","https://openalex.org/W3180277944","https://openalex.org/W3191633065","https://openalex.org/W4244647001","https://openalex.org/W4388919336","https://openalex.org/W6795204598","https://openalex.org/W6912333589"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W3153542184","https://openalex.org/W2785359964"],"abstract_inverted_index":{"We":[0,22,101],"propose":[1],"a":[2,80,95],"fixed-lag":[3,25],"smoother-based":[4],"sensor":[5],"fusion":[6],"architecture":[7],"to":[8,28,50,73,75],"leverage":[9],"the":[10,52,61],"complementary":[11],"benefits":[12],"of":[13],"range-based":[14],"sensors":[15,126],"and":[16,33,48,55,91,127],"visual-inertial":[17],"odometry":[18],"(VIO)":[19],"for":[20,37,83],"localization.":[21],"use":[23],"two":[24],"smoothers":[26],"(FLS)":[27],"decouple":[29],"accurate":[30],"state":[31],"estimation":[32],"high-rate":[34],"pose":[35,77],"generation":[36],"closed-loop":[38,106],"control.":[39,85],"The":[40,67,86],"first":[41],"FLS":[42,69],"combines":[43],"ultrawideband":[44],"(UWB)-based":[45],"range":[46,62],"measurements":[47,63],"VIO":[49,74],"estimate":[51],"robot":[53],"trajectory":[54],"any":[56],"systematic":[57],"biases":[58],"that":[59],"affect":[60],"in":[64,112],"cluttered":[65,115],"environments.":[66,117],"second":[68],"estimates":[70,78],"smooth":[71],"corrections":[72],"generate":[76],"at":[79],"high":[81],"rate":[82],"online":[84],"proposed":[87],"method":[88,119],"is":[89],"lightweight":[90],"can":[92],"run":[93],"on":[94],"computationally":[96],"constrained":[97],"micro-aerial":[98],"vehicle":[99],"(MAV).":[100],"validate":[102],"our":[103],"approach":[104],"through":[105],"flight":[107],"tests":[108],"involving":[109],"dynamic":[110],"trajectories":[111],"multiple":[113],"real-world":[114],"indoor":[116],"Our":[118],"achieves":[120],"decimeter-to-sub-decimeter-level":[121],"positioning":[122],"accuracy":[123,130],"using":[124],"off-the-shelf":[125],"decimeter-level":[128],"tracking":[129],"with":[131],"minimally-tuned":[132],"open-source":[133],"controllers.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
