{"id":"https://openalex.org/W3087767329","doi":"https://doi.org/10.1109/mfi49285.2020.9235254","title":"An EKF Based Approach to Radar Inertial Odometry","display_name":"An EKF Based Approach to Radar Inertial Odometry","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3087767329","doi":"https://doi.org/10.1109/mfi49285.2020.9235254","mag":"3087767329"},"language":"en","primary_location":{"id":"doi:10.1109/mfi49285.2020.9235254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi49285.2020.9235254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-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/A5110830921","display_name":"Christopher Doer","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christopher Doer","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075440290","display_name":"Gert F. Trommer","orcid":null},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]},{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE","RU"],"is_corresponding":false,"raw_author_name":"Gert F. Trommer","raw_affiliation_strings":["ITMO University, Saint Petersburg, Russia","Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110830921"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":44.0332,"has_fulltext":false,"cited_by_count":106,"citation_normalized_percentile":{"value":0.99582038,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"152","last_page":"159"},"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":0.9998999834060669,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9929999709129333,"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/odometry","display_name":"Odometry","score":0.8710691928863525},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6781902313232422},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6615768074989319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6558696031570435},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5795609951019287},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.563996434211731},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5609975457191467},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5515119433403015},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5350092053413391},{"id":"https://openalex.org/keywords/continuous-wave-radar","display_name":"Continuous-wave radar","score":0.4614400267601013},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4588494896888733},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4307875335216522},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.3337951898574829},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3266042172908783},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21938717365264893},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20096519589424133},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1597520112991333},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.083840012550354}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8710691928863525},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6781902313232422},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6615768074989319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6558696031570435},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5795609951019287},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.563996434211731},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5609975457191467},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5515119433403015},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5350092053413391},{"id":"https://openalex.org/C59584813","wikidata":"https://www.wikidata.org/wiki/Q1029234","display_name":"Continuous-wave radar","level":4,"score":0.4614400267601013},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4588494896888733},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4307875335216522},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.3337951898574829},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3266042172908783},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21938717365264893},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20096519589424133},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1597520112991333},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.083840012550354},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi49285.2020.9235254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi49285.2020.9235254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1582306910","https://openalex.org/W1953763825","https://openalex.org/W2015442982","https://openalex.org/W2037360029","https://openalex.org/W2038701704","https://openalex.org/W2056358962","https://openalex.org/W2056427752","https://openalex.org/W2085261163","https://openalex.org/W2158662637","https://openalex.org/W2216550548","https://openalex.org/W2282348759","https://openalex.org/W2296228853","https://openalex.org/W2343290465","https://openalex.org/W2443717701","https://openalex.org/W2553423442","https://openalex.org/W2566680697","https://openalex.org/W2745859992","https://openalex.org/W2751276580","https://openalex.org/W2852625070","https://openalex.org/W2883702102","https://openalex.org/W2888653684","https://openalex.org/W2890714858","https://openalex.org/W2956892431","https://openalex.org/W2961619538","https://openalex.org/W2969150035","https://openalex.org/W2990844533","https://openalex.org/W3006166967","https://openalex.org/W3009950332","https://openalex.org/W3090925395","https://openalex.org/W4232086175","https://openalex.org/W4246614213","https://openalex.org/W4301014524","https://openalex.org/W6766068832","https://openalex.org/W6774555099"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Accurate":[0],"localization":[1],"is":[2,14,36,92,105,130,138],"key":[3],"for":[4],"autonomous":[5],"robotics.":[6],"Navigation":[7],"in":[8,25,56,140,150,156],"GNSS-denied":[9],"and":[10,45,85,117,142,158],"degraded":[11],"visual":[12,21],"environment":[13],"still":[15],"very":[16],"challenging.":[17],"Approaches":[18],"based":[19,37,67,134],"on":[20,38,95,186],"sensors":[22,53],"usually":[23],"fail":[24],"conditions":[26],"like":[27],"darkness,":[28],"direct":[29],"sunlight,":[30],"fog":[31],"or":[32],"smoke.":[33],"Our":[34],"approach":[35,180],"a":[39,99,119,151,167],"millimeter":[40],"wave":[41],"FMCW":[42,78],"radar":[43,79,97,133],"sensor":[44],"an":[46,62,187],"Inertial":[47,72],"Measurement":[48],"Unit":[49],"(IMU)":[50],"as":[51],"both":[52],"can":[54],"operate":[55],"these":[57],"conditions.":[58],"Specifically,":[59],"we":[60],"propose":[61],"Extended":[63],"Kalman":[64],"Filter":[65],"(EKF)":[66],"solution":[68],"to":[69],"3D":[70,83,101],"Radar":[71],"Odometry":[73],"(RIO).":[74],"A":[75],"standard":[76],"automotive":[77],"which":[80],"measures":[81],"the":[82,96,114,143,174],"position":[84,169],"Doppler":[86],"velocity":[87,103,136],"of":[88,173],"each":[89],"detected":[90],"target":[91],"used.":[93],"Based":[94],"measurements,":[98],"RANSAC":[100],"ego":[102,135],"estimation":[104,137],"carried":[106],"out.":[107],"Fusion":[108],"with":[109,126,146,161],"inertial":[110],"data":[111],"further":[112],"improves":[113],"accuracy,":[115],"robustness":[116],"provides":[118],"high":[120],"rate":[121],"motion":[122,152],"estimate.":[123],"An":[124],"extension":[125],"barometric":[127],"height":[128],"fusion":[129],"presented.":[131],"The":[132,177],"tested":[139],"simulation":[141],"accuracy":[144],"evaluated":[145],"real":[147],"world":[148],"datasets":[149],"capture":[153],"system.":[154],"Tests":[155],"indoor":[157],"outdoor":[159],"environments":[160],"trajectories":[162],"longer":[163],"than":[164,183],"200m":[165],"achieved":[166],"final":[168],"error":[170],"below":[171],"0.6%":[172],"distance":[175],"traveled.":[176],"proposed":[178],"odometry":[179],"runs":[181],"faster":[182],"realtime":[184],"even":[185],"embedded":[188],"computer.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":41},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}