{"id":"https://openalex.org/W1998112693","doi":"https://doi.org/10.1109/mfi.2010.5604453","title":"Inertial aided monocular SLAM for GPS-denied navigation","display_name":"Inertial aided monocular SLAM for GPS-denied navigation","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W1998112693","doi":"https://doi.org/10.1109/mfi.2010.5604453","mag":"1998112693"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2010.5604453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2010.5604453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Conference on Multisensor Fusion and Integration","raw_type":"proceedings-article"},"type":"conference-paper","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/A5061915792","display_name":"Markus Kleinert","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Kleinert","raw_affiliation_strings":["Fraunhofer Institute of Optronics, System Technologies and Image Exploitation, 76275 Ettlingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation, 76275 Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036960128","display_name":"Sebastian Schleith","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Schleith","raw_affiliation_strings":["Fraunhofer Institute of Optronics, System Technologies and Image Exploitation, 76275 Ettlingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation, 76275 Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210111500"],"apc_list":null,"apc_paid":null,"fwci":2.0278,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.83395549,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"20","last_page":"25"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8063175678253174},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.7770547866821289},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7607452869415283},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7238908410072327},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6832401156425476},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6721797585487366},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6557225584983826},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6407853364944458},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5670127272605896},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4984743595123291},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4715839922428131},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.4704495966434479},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.44344931840896606},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.33047056198120117},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14987343549728394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14913883805274963},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1412944793701172},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.11642587184906006},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.066925048828125}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8063175678253174},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7770547866821289},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7607452869415283},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7238908410072327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6832401156425476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6721797585487366},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6557225584983826},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6407853364944458},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5670127272605896},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4984743595123291},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4715839922428131},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.4704495966434479},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.44344931840896606},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.33047056198120117},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14987343549728394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14913883805274963},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1412944793701172},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.11642587184906006},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.066925048828125},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mfi.2010.5604453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2010.5604453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Conference on Multisensor Fusion and Integration","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-188616","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-188616.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IOSB","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/370058","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/370058","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1565206031","https://openalex.org/W1643815198","https://openalex.org/W1991793962","https://openalex.org/W1992989752","https://openalex.org/W2018778695","https://openalex.org/W2111308925","https://openalex.org/W2118223742","https://openalex.org/W2118631242","https://openalex.org/W2118877769","https://openalex.org/W2128516964","https://openalex.org/W2140924050","https://openalex.org/W2150064935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2160537734","https://openalex.org/W2209124607","https://openalex.org/W2216795730","https://openalex.org/W2296147781","https://openalex.org/W4230111632","https://openalex.org/W4243425824","https://openalex.org/W6677548441","https://openalex.org/W6677691694","https://openalex.org/W6688534513"],"related_works":["https://openalex.org/W2607709837","https://openalex.org/W2138468867","https://openalex.org/W842283796","https://openalex.org/W2367439672","https://openalex.org/W290915267","https://openalex.org/W2066600100","https://openalex.org/W2624160186","https://openalex.org/W2605920080","https://openalex.org/W1934738837","https://openalex.org/W2095756345"],"abstract_inverted_index":{"This":[0,57],"paper":[1],"addresses":[2],"the":[3,25,45,49,66,76,90],"problem":[4],"of":[5,40,51,92],"navigation":[6,68],"in":[7,53],"GPS-denied":[8],"scenarios":[9],"using":[10],"a":[11,59,71],"low-cost":[12],"inertial":[13],"measurement":[14],"unit":[15],"(IMU)":[16],"and":[17,70,79,97],"monocular":[18,61],"video":[19],"data.":[20],"It":[21],"is":[22,80],"shown":[23],"how":[24],"standard":[26],"error":[27],"state":[28,47],"Kalman-Filter":[29],"approach":[30,94],"for":[31,82,95],"GPS-INS":[32],"integration":[33],"can":[34],"be":[35],"extended":[36],"to":[37],"take":[38],"advantage":[39],"imagery":[41],"measurements":[42],"by":[43],"augmenting":[44],"filter":[46],"with":[48],"coordinates":[50],"landmarks":[52],"inverse":[54],"depth":[55],"parameterization.":[56],"yields":[58],"robust":[60],"SLAM":[62],"algorithm":[63],"that":[64],"computes":[65],"desired":[67],"solution":[69],"sparse":[72],"feature":[73],"map":[74],"at":[75],"same":[77],"time":[78],"suitable":[81],"real-time":[83],"operation.":[84],"Results":[85],"are":[86],"presented":[87],"which":[88],"demonstrate":[89],"applicability":[91],"this":[93],"indoor":[96],"outdoor":[98],"scenarios.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}