{"id":"https://openalex.org/W4410204291","doi":"https://doi.org/10.1109/lra.2025.3568307","title":"Voxel-SVIO: Stereo Visual-Inertial Odometry Based on Voxel Map","display_name":"Voxel-SVIO: Stereo Visual-Inertial Odometry Based on Voxel Map","publication_year":2025,"publication_date":"2025-05-08","ids":{"openalex":"https://openalex.org/W4410204291","doi":"https://doi.org/10.1109/lra.2025.3568307"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3568307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568307","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/A5029784526","display_name":"Zikang Yuan","orcid":"https://orcid.org/0000-0003-0066-3325"},"institutions":[{"id":"https://openalex.org/I2800906782","display_name":"Hong Kong Science and Technology Parks Corporation","ror":"https://ror.org/05q8mqd91","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I2800906782"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zikang Yuan","raw_affiliation_strings":["AI Chip Center for Emerging Smart Systems (ACCESS), InnoHK Centers, Hong Kong Science Park, Hong Kong SAR, China","AI Chip Center for Emerging Smart Systems (ACCESS), InnoHK Centers, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"AI Chip Center for Emerging Smart Systems (ACCESS), InnoHK Centers, Hong Kong Science Park, Hong Kong SAR, China","institution_ids":["https://openalex.org/I2800906782"]},{"raw_affiliation_string":"AI Chip Center for Emerging Smart Systems (ACCESS), InnoHK Centers, Hong Kong, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072470911","display_name":"Fengtian Lang","orcid":"https://orcid.org/0000-0001-9930-5522"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengtian Lang","raw_affiliation_strings":["Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101839513","display_name":"Jie Deng","orcid":"https://orcid.org/0009-0007-8086-2223"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Deng","raw_affiliation_strings":["Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111060710","display_name":"Haibo Luo","orcid":"https://orcid.org/0000-0002-3287-5384"},"institutions":[{"id":"https://openalex.org/I2802615301","display_name":"China Aerospace Science and Technology Corporation","ror":"https://ror.org/01z8tr155","country_code":"CN","type":"government","lineage":["https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongcheng Luo","raw_affiliation_strings":["Xiaomi EV Technology Company Ltd., Beijing, China","Xiaomi EV Technology Co., Ltd., Beijing, China"],"affiliations":[{"raw_affiliation_string":"Xiaomi EV Technology Company Ltd., Beijing, China","institution_ids":["https://openalex.org/I2802615301"]},{"raw_affiliation_string":"Xiaomi EV Technology Co., Ltd., Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088751649","display_name":"Xin Yang","orcid":"https://orcid.org/0000-0001-6252-1061"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Yang","raw_affiliation_strings":["Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5029784526"],"corresponding_institution_ids":["https://openalex.org/I2800906782"],"apc_list":null,"apc_paid":null,"fwci":3.9571,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.9350298,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"10","issue":"6","first_page":"6352","last_page":"6359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.7756258845329285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6705983877182007},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6346357464790344},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5425340533256531},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48716971278190613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10730651021003723},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.05898994207382202}],"concepts":[{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.7756258845329285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6705983877182007},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6346357464790344},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5425340533256531},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48716971278190613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10730651021003723},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.05898994207382202}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3568307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568307","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1974678436","https://openalex.org/W2118223742","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2538522345","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2797395780","https://openalex.org/W2938170127","https://openalex.org/W2963813675","https://openalex.org/W3043971245","https://openalex.org/W3091667825","https://openalex.org/W3201611430","https://openalex.org/W4205544116","https://openalex.org/W4230766380","https://openalex.org/W4361803767","https://openalex.org/W4380905912","https://openalex.org/W4389667317","https://openalex.org/W4390816654","https://openalex.org/W4391892470","https://openalex.org/W4394862862","https://openalex.org/W4399939203","https://openalex.org/W4401511374","https://openalex.org/W4402727243","https://openalex.org/W4405786897","https://openalex.org/W6864527971"],"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":{"In":[0],"visual-inertial":[1],"odometry":[2],"(VIO)":[3],"systems,":[4],"allocating":[5],"limited":[6],"computational":[7],"resources":[8],"to":[9,17,35,51,56,84,108],"constraints":[10,101],"for":[11,102,142],"new":[12,43,103],"frames":[13,26,44],"is":[14],"more":[15],"conducive":[16],"enhancing":[18],"the":[19,38,57,70,85,112,132,144,147],"accuracy":[20],"of":[21,42,73,146],"state":[22],"estimation,":[23],"as":[24],"old":[25],"have":[27],"already":[28],"undergone":[29],"multiple":[30],"updates.":[31],"To":[32],"enable":[33],"VIO":[34,58,64],"efficiently":[36],"index":[37,83],"observed":[39],"map":[40,54,93,133],"points":[41,94,134],"in":[45,89,95],"3D":[46,90],"space,":[47],"this":[48],"paper":[49],"proposes":[50],"introduce":[52],"voxel":[53],"management":[55],"field":[59],"and":[60,131],"self-develop":[61],"a":[62],"stereo":[63,78],"system,":[65],"named":[66],"Voxel-SVIO.":[67],"Based":[68],"on":[69,76,116,129],"triangulation":[71],"results":[72,115],"feature":[74],"correspondences":[75],"current":[77],"image,":[79],"we":[80],"can":[81,98],"directly":[82],"recently":[86,137],"visited":[87,138],"voxels":[88,97,139],"space.":[91],"The":[92],"these":[96],"provide":[99],"enough":[100],"frames,":[104],"thus":[105],"are":[106,140],"suitable":[107],"be":[109],"fed":[110],"into":[111],"estimator.":[113],"Experimental":[114],"three":[117],"public":[118],"datasets":[119],"demonstrate":[120],"that":[121],"our":[122],"Voxel-SVIO":[123],"outperforms":[124],"most":[125],"existing":[126],"state-of-the-art":[127],"approaches":[128],"accuracy,":[130],"selected":[135],"by":[136],"crucial":[141],"ensuring":[143],"performance":[145],"proposed":[148],"system.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
