{"id":"https://openalex.org/W4403863414","doi":"https://doi.org/10.1109/lra.2024.3487496","title":"Depth-Visual-Inertial (DVI) Mapping System for Robust Indoor 3D Reconstruction","display_name":"Depth-Visual-Inertial (DVI) Mapping System for Robust Indoor 3D Reconstruction","publication_year":2024,"publication_date":"2024-10-29","ids":{"openalex":"https://openalex.org/W4403863414","doi":"https://doi.org/10.1109/lra.2024.3487496"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3487496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3487496","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":true,"oa_status":"green","oa_url":"https://biblio.ugent.be/publication/01JBVBE6X8ET1EXP74H0QP4795/file/01JR7QBB4XG9HSAGEGYKM6G4V0.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055035757","display_name":"Charles Hamesse","orcid":"https://orcid.org/0000-0002-2321-0620"},"institutions":[{"id":"https://openalex.org/I150517870","display_name":"Royal Military Academy","ror":"https://ror.org/02vmnye06","country_code":"BE","type":"education","lineage":["https://openalex.org/I150517870"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Charles Hamesse","raw_affiliation_strings":["Department of Mathematics, Royal Military Academy, Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-2321-0620","affiliations":[{"raw_affiliation_string":"Department of Mathematics, Royal Military Academy, Brussels, Belgium","institution_ids":["https://openalex.org/I150517870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058066622","display_name":"Michiel Vlaminck","orcid":"https://orcid.org/0000-0003-3986-823X"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Michiel Vlaminck","raw_affiliation_strings":["IMEC - IPI - URC, Ghent University, Ghent, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-3986-823X","affiliations":[{"raw_affiliation_string":"IMEC - IPI - URC, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076302373","display_name":"Hi\u00eap Luong","orcid":"https://orcid.org/0000-0002-6246-5538"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Hiep Luong","raw_affiliation_strings":["IMEC - IPI - URC, Ghent University, Ghent, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-6246-5538","affiliations":[{"raw_affiliation_string":"IMEC - IPI - URC, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035555137","display_name":"Rob Haelterman","orcid":"https://orcid.org/0000-0002-1610-2218"},"institutions":[{"id":"https://openalex.org/I150517870","display_name":"Royal Military Academy","ror":"https://ror.org/02vmnye06","country_code":"BE","type":"education","lineage":["https://openalex.org/I150517870"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Rob Haelterman","raw_affiliation_strings":["Department of Mathematics, Royal Military Academy, Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-1610-2218","affiliations":[{"raw_affiliation_string":"Department of Mathematics, Royal Military Academy, Brussels, Belgium","institution_ids":["https://openalex.org/I150517870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5857,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.92706469,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"12","first_page":"11313","last_page":"11320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983999729156494,"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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9968000054359436,"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/computer-science","display_name":"Computer science","score":0.5714802742004395},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4602234959602356},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39284396171569824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3760165572166443},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.32579052448272705},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06913954019546509}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5714802742004395},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4602234959602356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39284396171569824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3760165572166443},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.32579052448272705},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06913954019546509},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3487496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3487496","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"},{"id":"pmh:oai:archive.ugent.be:01JBVBE6X8ET1EXP74H0QP4795","is_oa":true,"landing_page_url":"http://hdl.handle.net/1854/LU-01JBVBE6X8ET1EXP74H0QP4795","pdf_url":"https://biblio.ugent.be/publication/01JBVBE6X8ET1EXP74H0QP4795/file/01JR7QBB4XG9HSAGEGYKM6G4V0.pdf","source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 2377-3766","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:archive.ugent.be:01JBVBE6X8ET1EXP74H0QP4795","is_oa":true,"landing_page_url":"http://hdl.handle.net/1854/LU-01JBVBE6X8ET1EXP74H0QP4795","pdf_url":"https://biblio.ugent.be/publication/01JBVBE6X8ET1EXP74H0QP4795/file/01JR7QBB4XG9HSAGEGYKM6G4V0.pdf","source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 2377-3766","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403863414.pdf","grobid_xml":"https://content.openalex.org/works/W4403863414.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W2021851106","https://openalex.org/W2058535340","https://openalex.org/W2296228853","https://openalex.org/W2401634307","https://openalex.org/W2419212966","https://openalex.org/W2745859992","https://openalex.org/W2898231767","https://openalex.org/W2997495511","https://openalex.org/W3043971245","https://openalex.org/W3089936780","https://openalex.org/W3091667825","https://openalex.org/W3098250009","https://openalex.org/W3126674423","https://openalex.org/W3132401233","https://openalex.org/W3133216522","https://openalex.org/W3133648073","https://openalex.org/W3174936503","https://openalex.org/W3181051035","https://openalex.org/W3199184510","https://openalex.org/W3201416825","https://openalex.org/W3206845495","https://openalex.org/W4210423514","https://openalex.org/W4285269741","https://openalex.org/W4285507666","https://openalex.org/W4292544413","https://openalex.org/W4297505407","https://openalex.org/W4321194448","https://openalex.org/W4366808639","https://openalex.org/W4388755175","https://openalex.org/W4391590977","https://openalex.org/W6797028334","https://openalex.org/W6862909742"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"We":[0,131],"propose":[1,112],"the":[2,54,113,133,145],"<underline":[3],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[4,6,8],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">D</u>epth-<underline":[5],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">V</u>isual-<underline":[7],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">I</u>nertial":[9],"(DVI)":[10],"mapping":[11,21],"system:":[12],"a":[13,63],"robust":[14,80],"multi-sensor":[15],"fusion":[16,75],"framework":[17],"for":[18,49,58],"dense":[19],"3D":[20],"using":[22,67],"time-of-flight":[23,106],"cameras":[24],"equipped":[25],"with":[26,104],"RGB":[27],"and":[28,39,93,136,155],"IMU":[29],"sensors.":[30,108],"Inspired":[31],"by":[32,62],"recent":[33],"developments":[34],"in":[35,125],"real-time":[36],"LiDAR-based":[37],"odometry":[38],"mapping,":[40],"our":[41,78,139,152],"system":[42,79],"uses":[43],"an":[44],"error-state":[45],"iterative":[46],"Kalman":[47],"filter":[48],"state":[50,59,64],"estimation:":[51],"it":[52],"processes":[53],"inertial":[55],"sensor's":[56],"data":[57,119],"propagation,":[60],"followed":[61],"update":[65],"first":[66],"visual-inertial":[68],"odometry,":[69],"then":[70],"depth-based":[71],"odometry.":[72],"This":[73],"sensor":[74,96],"scheme":[76],"makes":[77],"to":[81,94],"degenerate":[82],"scenarios":[83],"(e.g.":[84],"lack":[85],"of":[86,138],"visual":[87],"or":[88],"geometrical":[89],"features,":[90],"fast":[91],"rotations)":[92],"noisy":[95],"data,":[97],"like":[98],"those":[99],"that":[100],"can":[101],"be":[102],"obtained":[103],"off-the-shelf":[105],"DVI":[107,116,122],"For":[109],"evaluation,":[110],"we":[111,149],"new":[114],"Bunker":[115],"Dataset,":[117],"featuring":[118],"from":[120],"multiple":[121],"sensors":[123],"recorded":[124],"challenging":[126],"conditions":[127],"reflecting":[128],"search-and-rescue":[129],"operations.":[130],"show":[132],"superior":[134],"robustness":[135],"precision":[137],"method":[140],"against":[141],"previous":[142],"work.":[143],"Following":[144],"open":[146],"science":[147],"principle,":[148],"make":[150],"both":[151],"source":[153],"code":[154],"dataset":[156],"publicly":[157],"available.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}
