{"id":"https://openalex.org/W4408358871","doi":"https://doi.org/10.1109/lra.2025.3550835","title":"PGD-VIO: A Plane-Aided RGB-D Inertial Odometry With Graph-Based Drift Suppression","display_name":"PGD-VIO: A Plane-Aided RGB-D Inertial Odometry With Graph-Based Drift Suppression","publication_year":2025,"publication_date":"2025-03-12","ids":{"openalex":"https://openalex.org/W4408358871","doi":"https://doi.org/10.1109/lra.2025.3550835"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3550835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3550835","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2407.17709","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103283126","display_name":"Yidi Zhang","orcid":"https://orcid.org/0009-0002-2076-2531"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yidi Zhang","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-2076-2531","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006625202","display_name":"Fulin Tang","orcid":"https://orcid.org/0000-0002-8474-2671"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fulin Tang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8474-2671","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101845301","display_name":"Zewen Xu","orcid":"https://orcid.org/0009-0002-9700-3728"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zewen Xu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-9700-3728","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100645164","display_name":"Yihong Wu","orcid":"https://orcid.org/0000-0003-2198-9113"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihong Wu","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2198-9113","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009008515","display_name":"Pengju Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I106994412","display_name":"Sinopec (China)","ror":"https://ror.org/0161q6d74","country_code":"CN","type":"company","lineage":["https://openalex.org/I106994412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengju Ma","raw_affiliation_strings":["Sinopec Shengli Oilfield, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sinopec Shengli Oilfield, Shandong, China","institution_ids":["https://openalex.org/I106994412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103283126"],"corresponding_institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":4.7878,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92924596,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"5","first_page":"4276","last_page":"4283"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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":0.9976999759674072,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9639000296592712,"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":0.7671875953674316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5467991232872009},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.499772310256958},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.45096734166145325},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4168063998222351},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3706495463848114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06274974346160889}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7671875953674316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5467991232872009},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.499772310256958},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.45096734166145325},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4168063998222351},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3706495463848114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06274974346160889},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3550835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3550835","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:arXiv.org:2407.17709","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.17709","pdf_url":"https://arxiv.org/pdf/2407.17709","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2407.17709","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.17709","pdf_url":"https://arxiv.org/pdf/2407.17709","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G1878529151","display_name":null,"funder_award_id":"62202468","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":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4408358871.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W2108402667","https://openalex.org/W2118223742","https://openalex.org/W2187295369","https://openalex.org/W2343970360","https://openalex.org/W2535547924","https://openalex.org/W2745859992","https://openalex.org/W2892147056","https://openalex.org/W2895823395","https://openalex.org/W2908603664","https://openalex.org/W2945772959","https://openalex.org/W2963095856","https://openalex.org/W2968190521","https://openalex.org/W3043971245","https://openalex.org/W3046421612","https://openalex.org/W3083752821","https://openalex.org/W3091667825","https://openalex.org/W3131898074","https://openalex.org/W3196050671","https://openalex.org/W3207290493","https://openalex.org/W4283832649","https://openalex.org/W4285505449","https://openalex.org/W4367016638","https://openalex.org/W4383108876","https://openalex.org/W4383109376","https://openalex.org/W4389666896","https://openalex.org/W4390051663","https://openalex.org/W4394863042"],"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":{"Generally,":[0],"high-level":[1],"features":[2,67,78,90],"provide":[3],"more":[4],"geometrical":[5],"information":[6,75],"compared":[7],"to":[8,15,29,33,81,101,113],"point":[9,64,77,86],"features,":[10],"which":[11],"can":[12],"be":[13],"exploited":[14],"further":[16],"constrain":[17],"motions.":[18],"Planes":[19],"are":[20],"commonplace":[21],"in":[22,68,119,145],"man-made":[23],"environments,":[24],"offering":[25],"an":[26,54,58,69],"active":[27],"means":[28],"reduce":[30],"drift,":[31],"due":[32],"their":[34],"extensive":[35],"spatial":[36],"and":[37,57,65,116,148,153],"temporal":[38],"observability.":[39],"To":[40],"make":[41],"full":[42],"use":[43],"of":[44,76,85],"planar":[45],"information,":[46],"we":[47],"propose":[48],"a":[49,105,151],"novel":[50,106],"visual-inertial":[51],"odometry":[52],"using":[53],"RGB-D":[55],"camera":[56],"inertial":[59],"measurement":[60],"unit,":[61],"effectively":[62],"integrating":[63],"plane":[66,89,121,155],"extended":[70],"Kalman":[71],"filter":[72],"framework.":[73],"Depth":[74],"is":[79,111,128],"leveraged":[80],"improve":[82],"the":[83,97,120,125],"accuracy":[84,147],"triangulation,":[87],"while":[88],"serve":[91],"as":[92],"direct":[93],"observations":[94],"added":[95],"into":[96],"state":[98],"vector.":[99],"Notably,":[100],"benefit":[102],"long-term":[103],"navigation,":[104],"graph-based":[107],"drift":[108,127],"detection":[109],"strategy":[110],"proposed":[112],"search":[114],"overlapping":[115],"identical":[117],"structures":[118],"map":[122],"so":[123],"that":[124,139],"cumulative":[126],"suppressed":[129],"subsequently.":[130],"The":[131],"experimental":[132],"results":[133],"on":[134],"two":[135],"public":[136],"datasets":[137],"demonstrate":[138],"our":[140],"system":[141],"outperforms":[142],"state-of-the-art":[143],"methods":[144],"localization":[146],"meanwhile":[149],"generates":[150],"compact":[152],"consistent":[154],"map.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-03-13T00:00:00"}
