{"id":"https://openalex.org/W4396853084","doi":"https://doi.org/10.1109/lra.2024.3400154","title":"River: A Tightly-Coupled Radar-Inertial Velocity Estimator Based on Continuous-Time Optimization","display_name":"River: A Tightly-Coupled Radar-Inertial Velocity Estimator Based on Continuous-Time Optimization","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4396853084","doi":"https://doi.org/10.1109/lra.2024.3400154"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3400154","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2024.3400154","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/A5030312036","display_name":"Shuolong Chen","orcid":"https://orcid.org/0000-0002-5283-9057"},"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":true,"raw_author_name":"Shuolong Chen","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661809","display_name":"Xingxing Li","orcid":"https://orcid.org/0000-0002-0283-4151"},"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":"Xingxing Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053326378","display_name":"Shengyu Li","orcid":"https://orcid.org/0000-0003-4014-2524"},"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":"Shengyu Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018496820","display_name":"Yuxuan Zhou","orcid":"https://orcid.org/0000-0002-5261-0009"},"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":"Yuxuan Zhou","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100723328","display_name":"Shiwen Wang","orcid":"https://orcid.org/0009-0009-0896-0288"},"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":"Shiwen Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030312036"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":2.3358,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.87955101,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"9","issue":"7","first_page":"6107","last_page":"6114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9983000159263611,"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":0.9966999888420105,"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/estimator","display_name":"Estimator","score":0.6625804901123047},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5435961484909058},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.529076874256134},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.3904004991054535},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.35298898816108704},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3405047059059143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3394661545753479},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.31995540857315063},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26434481143951416},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.12309867143630981},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.107689768075943},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08608976006507874}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6625804901123047},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5435961484909058},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.529076874256134},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.3904004991054535},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.35298898816108704},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3405047059059143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3394661545753479},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.31995540857315063},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26434481143951416},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.12309867143630981},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.107689768075943},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08608976006507874}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3400154","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2024.3400154","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":[{"display_name":"Affordable and clean energy","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1965522621","https://openalex.org/W1998058414","https://openalex.org/W2049750053","https://openalex.org/W2153469808","https://openalex.org/W2745859992","https://openalex.org/W2790674987","https://openalex.org/W2798000375","https://openalex.org/W2826208474","https://openalex.org/W2896245033","https://openalex.org/W2969306559","https://openalex.org/W2990449593","https://openalex.org/W3087767329","https://openalex.org/W3090925395","https://openalex.org/W3105664540","https://openalex.org/W3108683416","https://openalex.org/W3112752290","https://openalex.org/W3115688874","https://openalex.org/W4200571818","https://openalex.org/W4210423514","https://openalex.org/W4226322873","https://openalex.org/W4246614213","https://openalex.org/W4285611315","https://openalex.org/W4313010044","https://openalex.org/W4319924989","https://openalex.org/W4382463573","https://openalex.org/W4385246585"],"related_works":["https://openalex.org/W2324615561","https://openalex.org/W4287880334","https://openalex.org/W2086120259","https://openalex.org/W2245170124","https://openalex.org/W2076393078","https://openalex.org/W3186982001","https://openalex.org/W1984402782","https://openalex.org/W2137941439","https://openalex.org/W4366700029","https://openalex.org/W2004200960"],"abstract_inverted_index":{"Continuous":[0],"and":[1,11,23,57,73,83,113,130,144],"reliable":[2],"ego-velocity":[3,147],"information":[4],"is":[5,96,138],"significant":[6],"for":[7,146],"high-performance":[8],"motion":[9],"control":[10],"planning":[12],"in":[13,45],"a":[14,92],"variety":[15],"of":[16,104,140],"robotic":[17],"tasks,":[18],"such":[19,48],"as":[20,28,49],"autonomous":[21],"navigation":[22],"exploration.":[24],"While":[25],"linear":[26,75],"velocities":[27],"first-order":[29],"kinematics":[30],"can":[31],"be":[32,117],"simultaneously":[33],"estimated":[34],"with":[35],"other":[36],"states":[37],"or":[38],"explicitly":[39],"obtained":[40],"by":[41,107],"differentiation":[42],"from":[43,127],"positions":[44],"ego-motion":[46],"estimators":[47,61],"odometers,":[50],"the":[51,102,111],"high":[52,141],"coupling":[53],"leads":[54],"to":[55,99,120],"instability":[56],"even":[58],"failures":[59],"when":[60],"degenerate.":[62],"To":[63],"this":[64],"end,":[65],"we":[66],"present":[67],"<italic":[68,135],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[69,136],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">River:</i>":[70],"an":[71],"accurate":[72],"continuous":[74,122],"velocity":[76,112,124],"estimator":[77],"that":[78,134],"efficiently":[79],"fuses":[80],"high-frequency":[81],"inertial":[82],"radar":[84],"target":[85],"measurements":[86],"based":[87],"on":[88],"continuous-time":[89],"optimization.":[90],"Specifically,":[91],"dynamic":[93],"initialization":[94],"procedure":[95],"first":[97],"performed":[98],"rigorously":[100],"recover":[101],"initials":[103],"states,":[105],"followed":[106],"batch":[108],"estimations,":[109],"where":[110],"rotation":[114],"B-splines":[115],"would":[116],"optimized":[118],"incrementally":[119],"provide":[121],"body-frame":[123],"estimates.":[125],"Results":[126],"both":[128],"simulated":[129],"real-world":[131],"experiments":[132],"demonstrate":[133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">River</i>":[137],"capable":[139],"accuracy,":[142],"repeatability,":[143],"consistency":[145],"estimation.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
