{"id":"https://openalex.org/W4404238351","doi":"https://doi.org/10.1109/lra.2024.3495375","title":"Visual-Inertial Localization Leveraging Skylight Polarization Pattern Constraints","display_name":"Visual-Inertial Localization Leveraging Skylight Polarization Pattern Constraints","publication_year":2024,"publication_date":"2024-11-11","ids":{"openalex":"https://openalex.org/W4404238351","doi":"https://doi.org/10.1109/lra.2024.3495375"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3495375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3495375","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/A5061390455","display_name":"Zhenhua Wan","orcid":"https://orcid.org/0009-0003-8127-4336"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Wan","raw_affiliation_strings":["School of Mechanical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0009-0003-8127-4336","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peng Fu","orcid":"https://orcid.org/0009-0002-6643-9828"},"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":"Peng Fu","raw_affiliation_strings":["Department of Precision Instrument, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-6643-9828","affiliations":[{"raw_affiliation_string":"Department of Precision Instrument, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115599074","display_name":"Kunfeng Wang","orcid":"https://orcid.org/0009-0009-8000-0388"},"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":"Kunfeng Wang","raw_affiliation_strings":["Department of Precision Instrument, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-8000-0388","affiliations":[{"raw_affiliation_string":"Department of Precision Instrument, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101425199","display_name":"Kaichun Zhao","orcid":"https://orcid.org/0000-0002-1714-0582"},"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":"Kaichun Zhao","raw_affiliation_strings":["Department of Precision Instrument, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0163-0429","affiliations":[{"raw_affiliation_string":"Department of Precision Instrument, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1661,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.92888814,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"9","issue":"12","first_page":"11481","last_page":"11488"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9925000071525574,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9925000071525574,"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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9886999726295471,"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/T10427","display_name":"Visual perception and processing mechanisms","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/skylight","display_name":"Skylight","score":0.9803107976913452},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6450995802879333},{"id":"https://openalex.org/keywords/polarization","display_name":"Polarization (electrochemistry)","score":0.6064577102661133},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5127218961715698},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4744202494621277},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44538843631744385},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3221443295478821},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2884036898612976},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.24222996830940247},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18882113695144653},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08875417709350586},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.060610800981521606},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0543246865272522}],"concepts":[{"id":"https://openalex.org/C2780574069","wikidata":"https://www.wikidata.org/wiki/Q2712955","display_name":"Skylight","level":2,"score":0.9803107976913452},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6450995802879333},{"id":"https://openalex.org/C205049153","wikidata":"https://www.wikidata.org/wiki/Q2698605","display_name":"Polarization (electrochemistry)","level":2,"score":0.6064577102661133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5127218961715698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4744202494621277},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44538843631744385},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3221443295478821},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2884036898612976},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.24222996830940247},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18882113695144653},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08875417709350586},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.060610800981521606},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0543246865272522},{"id":"https://openalex.org/C147789679","wikidata":"https://www.wikidata.org/wiki/Q11372","display_name":"Physical chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3495375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3495375","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2056298239","https://openalex.org/W2056358962","https://openalex.org/W2097696373","https://openalex.org/W2118223742","https://openalex.org/W2154566305","https://openalex.org/W2185786809","https://openalex.org/W2238546778","https://openalex.org/W2358414080","https://openalex.org/W2472114286","https://openalex.org/W2482726005","https://openalex.org/W2523049145","https://openalex.org/W2532299031","https://openalex.org/W2538522345","https://openalex.org/W2734883620","https://openalex.org/W2738596250","https://openalex.org/W2745859992","https://openalex.org/W2769662586","https://openalex.org/W2774545276","https://openalex.org/W2780182158","https://openalex.org/W2909063396","https://openalex.org/W2914693969","https://openalex.org/W2938672559","https://openalex.org/W2963218091","https://openalex.org/W2968489055","https://openalex.org/W2998303641","https://openalex.org/W3015709416","https://openalex.org/W3084473397","https://openalex.org/W3090386798","https://openalex.org/W3098467253","https://openalex.org/W3125449081","https://openalex.org/W3159331446","https://openalex.org/W3206869601","https://openalex.org/W4200144630","https://openalex.org/W4230766380","https://openalex.org/W6758162286"],"related_works":["https://openalex.org/W2206340839","https://openalex.org/W3046264008","https://openalex.org/W2057088669","https://openalex.org/W2985567621","https://openalex.org/W1982557560","https://openalex.org/W2366635047","https://openalex.org/W2883039829","https://openalex.org/W2059557686","https://openalex.org/W2329104754","https://openalex.org/W2126151420"],"abstract_inverted_index":{"In":[0,55,68],"this":[1,57],"letter,":[2],"we":[3,38],"develop":[4],"a":[5,18,23,40,50,88,125],"tightly":[6],"coupled":[7],"polarization-visual-inertial":[8],"localization":[9,117],"system":[10],"that":[11,107],"utilizes":[12],"naturally-attributed":[13],"polarized":[14,35,46],"skylight":[15,47],"to":[16,33,70,98],"provide":[17],"global":[19,51],"heading.":[20],"We":[21],"introduce":[22],"focal":[24],"plane":[25],"polarization":[26,80],"camera":[27],"with":[28],"negligible":[29],"instantaneous":[30],"field-of-view":[31],"error":[32],"collect":[34],"skylight.":[36],"Then,":[37],"design":[39],"robust":[41],"heading":[42,53,62,81],"determination":[43],"method":[44,110],"from":[45],"and":[48,85,119],"construct":[49],"stable":[52],"constraint.":[54],"particular,":[56],"constraint":[58],"compensates":[59],"for":[60],"the":[61,71,100,108],"unobservability":[63],"present":[64],"in":[65,78,87,114,124],"standard":[66,72],"VINS.":[67],"addition":[69],"sparse":[73],"visual":[74],"feature":[75],"measurements":[76],"used":[77],"VINS,":[79],"residuals":[82],"are":[83],"constructed":[84],"co-optimized":[86],"tightly-coupled":[89],"VINS":[90],"update.":[91],"An":[92],"adaptive":[93],"fusion":[94],"strategy":[95],"is":[96],"designed":[97],"correct":[99],"cumulative":[101],"drift.":[102],"Outdoor":[103],"real-world":[104],"experiments":[105],"show":[106],"proposed":[109],"outperforms":[111],"state-of-the-art":[112],"VINS-Fusion":[113,123],"terms":[115],"of":[116],"accuracy,":[118],"improves":[120],"22%":[121],"over":[122],"wooded":[126],"campus":[127],"environment.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
