{"id":"https://openalex.org/W2564962357","doi":"https://doi.org/10.1109/rcar.2016.7784043","title":"A geometric model for fusing IMU into monocular visual localization of 3-D mobile robots","display_name":"A geometric model for fusing IMU into monocular visual localization of 3-D mobile robots","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2564962357","doi":"https://doi.org/10.1109/rcar.2016.7784043","mag":"2564962357"},"language":"en","primary_location":{"id":"doi:10.1109/rcar.2016.7784043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2016.7784043","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5101911590","display_name":"Zheng Fan","orcid":"https://orcid.org/0000-0001-9668-802X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan Zheng","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, HKSAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, HKSAR","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, HKSAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, HKSAR","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29346209,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"30","issue":null,"first_page":"301","last_page":"305"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991000294685364,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"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/computer-vision","display_name":"Computer vision","score":0.7840744256973267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7557246685028076},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7004123330116272},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6793029308319092},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6624297499656677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6477401256561279},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.591077983379364},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5308165550231934},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4998924732208252},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.42287978529930115}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7840744256973267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7557246685028076},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7004123330116272},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6793029308319092},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6624297499656677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6477401256561279},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.591077983379364},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5308165550231934},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4998924732208252},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.42287978529930115},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar.2016.7784043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2016.7784043","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1487127700","https://openalex.org/W1535515756","https://openalex.org/W1612997784","https://openalex.org/W1988605247","https://openalex.org/W2023839706","https://openalex.org/W2055904838","https://openalex.org/W2059302785","https://openalex.org/W2098836126","https://openalex.org/W2114380244","https://openalex.org/W2118223742","https://openalex.org/W2128739770","https://openalex.org/W2147536420","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2162991084","https://openalex.org/W3103648783","https://openalex.org/W6675320002","https://openalex.org/W6677871018"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W1750372561","https://openalex.org/W2991246638","https://openalex.org/W1501082329","https://openalex.org/W2980723633"],"abstract_inverted_index":{"For":[0],"the":[1,21,29,57,63,81,98,102,105,114],"localization":[2,41],"problem":[3],"of":[4,52,73,77,96,104,113],"mobile":[5],"robots":[6],"in":[7,16,42,66,80,119],"3D":[8],"space,":[9],"vision-based":[10],"methods":[11],"are":[12,36],"being":[13],"extensively":[14],"investigated":[15],"recent":[17],"years,":[18],"due":[19],"to":[20,38,61,91],"information":[22],"richness":[23],"provided":[24],"by":[25],"images.":[26],"To":[27],"improve":[28],"robustness":[30],"and":[31,83,101,111,122],"continuity,":[32],"usually":[33],"more":[34],"sensors":[35],"introduced":[37],"assist":[39],"visual":[40,58],"practices.":[43],"In":[44],"this":[45],"paper,":[46],"we":[47],"propose":[48],"a":[49,74],"geometric":[50],"model":[51,70],"fusing":[53],"IMU":[54,90],"data":[55,88],"into":[56],"tracking":[59,72],"process":[60],"estimate":[62],"robot":[64,99],"trajectory":[65,100],"3-D":[67],"space.":[68],"The":[69,109],"employs":[71],"certain":[75],"number":[76],"feature":[78,107],"points":[79],"environment,":[82],"fuses":[84],"them":[85],"with":[86],"sensor":[87],"from":[89],"perform":[92],"iterative":[93],"adaptive":[94],"estimation":[95],"both":[97],"positions":[103],"selected":[106],"points.":[108],"convergence":[110],"performance":[112],"proposed":[115],"method":[116],"is":[117],"validated":[118],"theoretical":[120],"proof":[121],"simulation":[123],"test.":[124]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}