{"id":"https://openalex.org/W7156102596","doi":"https://doi.org/10.1109/lra.2026.3688065","title":"FAR-AVIO: Fast and Robust Schur-Complement Based Acoustic-Visual-Inertial Fusion Odometry With Sensor Calibration","display_name":"FAR-AVIO: Fast and Robust Schur-Complement Based Acoustic-Visual-Inertial Fusion Odometry With Sensor Calibration","publication_year":2026,"publication_date":"2026-04-27","ids":{"openalex":"https://openalex.org/W7156102596","doi":"https://doi.org/10.1109/lra.2026.3688065"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3688065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3688065","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/A5052324728","display_name":"Hao Wei","orcid":"https://orcid.org/0000-0002-3144-9754"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wei","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, and Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0009-0005-3041-5711","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108906170","display_name":"Peiji Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peiji Wang","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, and Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072479087","display_name":"Qianhao Wang","orcid":"https://orcid.org/0000-0001-5157-4205"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianhao Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, and the Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5157-4205","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, and the Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134701194","display_name":"Yang Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Gu","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, and Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0009-0004-5693-1856","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082261032","display_name":"Tong Qin","orcid":"https://orcid.org/0000-0002-0994-9816"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Qin","raw_affiliation_strings":["Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-0994-9816","affiliations":[{"raw_affiliation_string":"Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, and the Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6513-374X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, and the Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031841011","display_name":"Yulin Si","orcid":"https://orcid.org/0000-0002-7364-1293"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulin Si","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, and Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0000-0002-7364-1293","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.8942,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.9858941,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"7","first_page":"7740","last_page":"7747"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8939999938011169,"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":0.8939999938011169,"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":0.04089999943971634,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.01209999993443489,"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/sensor-fusion","display_name":"Sensor fusion","score":0.4494999945163727},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.41119998693466187},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.32679998874664307},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.32120001316070557},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.2863999903202057}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6424000263214111},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6344000101089478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5629000067710876},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4494999945163727},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.41119998693466187},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.32679998874664307},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.32120001316070557},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.2863999903202057},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2662999927997589},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2653999924659729}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3688065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3688065","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":[{"score":0.5511325597763062,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2485512074","display_name":null,"funder_award_id":"52571313","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6320059160","display_name":"\u6f02\u6d6e\u5f0f\u98ce\u6d6a\u6df7\u5408\u53d1\u7535\u5e73\u53f0\u589e\u6548\u964d\u8f7d\u591a\u76ee\u6807\u534f\u540c\u4f18\u5316\u63a7\u5236\u7814\u7a76","funder_award_id":"LZ24E090001","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Underwater":[0],"environments":[1],"impose":[2],"severe":[3],"challenges":[4],"to":[5],"visual-inertial":[6,49],"odometry":[7,80],"systems,":[8],"as":[9,198],"strong":[10],"light":[11],"attenuation,":[12],"marine":[13],"snow":[14],"and":[15,25,122,138,141,147,166,183],"turbidity,":[16],"together":[17],"with":[18,48],"weakly":[19],"exciting":[20],"motions,":[21],"degrade":[22],"inertial":[23,137],"observability":[24],"cause":[26],"frequent":[27],"tracking":[28],"failures":[29],"over":[30],"long-term":[31],"operation.":[32],"While":[33],"tightly":[34,77],"coupled":[35,78],"acoustic-visual-inertial":[36,79],"fusion,":[37],"typically":[38],"implemented":[39],"through":[40],"an":[41,93,125,150],"acoustic":[42],"Doppler":[43],"Velocity":[44],"Log":[45],"(DVL)":[46],"integrated":[47],"measurements,":[50],"can":[51],"provide":[52],"accurate":[53],"state":[54],"estimation,":[55],"the":[56,133],"associated":[57],"graph-based":[58],"optimization":[59,100],"is":[60],"often":[61],"computationally":[62],"prohibitive":[63],"for":[64,83,101],"real-time":[65],"deployment":[66],"on":[67,189],"resource-constrained":[68],"platforms.":[69,192],"Here":[70],"we":[71,117,148],"present":[72],"FAR-AVIO,":[73],"a":[74,88],"Schur-Complement":[75],"based,":[76],"framework":[81],"tailored":[82],"underwater":[84,168,176],"robots.":[85],"FAR-AVIO":[86,173],"embeds":[87],"Schur":[89],"complement":[90],"formulation":[91],"into":[92],"Extended":[94],"Kalman":[95],"Filter(EKF),":[96],"enabling":[97,186],"joint":[98],"pose-landmark":[99],"accuracy":[102,182],"while":[103],"maintaining":[104],"constant-time":[105],"updates":[106],"by":[107],"efficiently":[108],"marginalizing":[109],"landmark":[110],"states.":[111],"On":[112],"top":[113],"of":[114,135],"this":[115],"backbone,":[116],"introduce":[118],"Adaptive":[119],"Weight":[120],"Adjustment":[121],"Reliability":[123],"Evaluation(AWARE),":[124],"online":[126,152],"sensor":[127],"health":[128],"module":[129],"that":[130,155,172],"continuously":[131],"assesses":[132],"reliability":[134],"visual,":[136],"DVL":[139],"measurements":[140],"adaptively":[142],"regulates":[143],"their":[144],"sigma":[145],"weights,":[146],"develop":[149],"efficient":[151],"calibration":[153,162],"scheme":[154],"jointly":[156],"estimates":[157],"DVL-IMU":[158],"extrinsics,":[159],"without":[160],"dedicated":[161],"manoeuvres.":[163],"Numerical":[164],"simulations":[165],"real-world":[167],"experiments":[169],"consistently":[170],"show":[171],"outperforms":[174],"state-of-the-art":[175],"SLAM":[177],"baselines":[178],"in":[179],"both":[180],"localization":[181],"computational":[184],"efficiency,":[185],"robust":[187],"operation":[188],"low-power":[190],"embedded":[191],"Our":[193],"implementation":[194],"has":[195],"been":[196],"released":[197],"open":[199],"source":[200],"software.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-04-28T00:00:00"}
