{"id":"https://openalex.org/W3013998422","doi":"https://doi.org/10.1109/rcar47638.2019.9043969","title":"A Double Stage EKF-based Stereo Visual Inertial Odometry","display_name":"A Double Stage EKF-based Stereo Visual Inertial Odometry","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W3013998422","doi":"https://doi.org/10.1109/rcar47638.2019.9043969","mag":"3013998422"},"language":"en","primary_location":{"id":"doi:10.1109/rcar47638.2019.9043969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar47638.2019.9043969","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5038784686","display_name":"Xiaogang Xiong","orcid":"https://orcid.org/0000-0002-6469-5281"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaogang Xiong","raw_affiliation_strings":["Faculty of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102746810","display_name":"Wenqing Chen","orcid":"https://orcid.org/0000-0002-9589-0100"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenqing Chen","raw_affiliation_strings":["Faculty of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100459798","display_name":"Zhichao Liu","orcid":"https://orcid.org/0000-0001-9432-4935"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhichao Liu","raw_affiliation_strings":["UBTECH Robotics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UBTECH Robotics, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008650661","display_name":"Qiang Shen","orcid":"https://orcid.org/0000-0001-8428-2356"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qiang Shen","raw_affiliation_strings":["Arizona State University, School for Engineering of Matter, Transport and Energy, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University, School for Engineering of Matter, Transport and Energy, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7503,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.87691449,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"947","last_page":"952"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9983000159263611,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7303047180175781},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.726338803768158},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7208544015884399},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6571007966995239},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6416423320770264},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6232008934020996},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5610783696174622},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5139265060424805},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.49729278683662415},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4322618544101715},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.223262757062912},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19377130270004272},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10067522525787354}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7303047180175781},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.726338803768158},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7208544015884399},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6571007966995239},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6416423320770264},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6232008934020996},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5610783696174622},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5139265060424805},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.49729278683662415},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4322618544101715},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.223262757062912},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19377130270004272},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10067522525787354},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar47638.2019.9043969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar47638.2019.9043969","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W166817922","https://openalex.org/W1530509856","https://openalex.org/W1570939900","https://openalex.org/W1981699551","https://openalex.org/W1992063156","https://openalex.org/W1998112693","https://openalex.org/W2027055074","https://openalex.org/W2051349034","https://openalex.org/W2055904838","https://openalex.org/W2085287976","https://openalex.org/W2086123859","https://openalex.org/W2091790851","https://openalex.org/W2098860918","https://openalex.org/W2118223742","https://openalex.org/W2121013842","https://openalex.org/W2121514940","https://openalex.org/W2128516964","https://openalex.org/W2147536420","https://openalex.org/W2151135369","https://openalex.org/W2160537734","https://openalex.org/W2167513452","https://openalex.org/W2215578878","https://openalex.org/W2216550548","https://openalex.org/W2396274919","https://openalex.org/W2411412724","https://openalex.org/W2737926097","https://openalex.org/W2745859992","https://openalex.org/W2774603347","https://openalex.org/W2799832626","https://openalex.org/W2962684941","https://openalex.org/W2962987986","https://openalex.org/W4246614213","https://openalex.org/W6601185777"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"algorithm":[4,60,76],"for":[5],"the":[6,20,34,39,42,46,49,54,58,71,74,78,101,132,136],"real-time":[7],"and":[8,29,45,95,107,114],"robust":[9],"stereo":[10,43],"VIO":[11,68],"(visual":[12],"inertial":[13,93],"odometry)":[14,94],"based":[15,104],"on":[16,105,135],"two-stage":[17],"EKF.":[18],"In":[19],"first":[21,50],"stage,":[22,36],"we":[23,37],"perform":[24,38],"data":[25,40],"fusion":[26,41],"from":[27],"accelerometer":[28],"gyroscope":[30],"of":[31,48,67,80,131],"IMU.":[32],"During":[33],"second":[35],"camera":[44],"result":[47],"stage.":[51],"Due":[52],"to":[53],"two":[55],"stage":[56,91],"fusion,":[57],"proposed":[59,75],"can":[61,122],"achieve":[62,123],"a":[63],"very":[64],"high":[65],"precision":[66],"estimations.":[69],"At":[70],"same":[72],"time,":[73],"maintains":[77],"advantage":[79],"computational":[81],"efficiency":[82],"filter-based":[83],"approaches.":[84],"We":[85],"call":[86],"our":[87],"approach":[88],"DS-VIO":[89,121],"(double":[90],"visual":[92],"evaluate":[96],"it":[97],"by":[98],"comparing":[99],"with":[100],"state-of-art":[102],"approaches":[103],"optimization":[106],"filtering":[108],"appoaches,":[109],"including":[110],"OKVIS,":[111],"ROVIO,":[112],"VINS-MONO":[113],"S-MSCKF.":[115],"The":[116],"comparison":[117],"results":[118],"show":[119],"that":[120],"comparable":[124],"or":[125],"even":[126],"better":[127],"performances":[128],"in":[129],"terms":[130],"RMS":[133],"error":[134],"EuRoC":[137],"dataset.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
