{"id":"https://openalex.org/W3114041605","doi":"https://doi.org/10.1109/rcar49640.2020.9303318","title":"Rotation Matrix Oriented Visual Inertial Online Initialization","display_name":"Rotation Matrix Oriented Visual Inertial Online Initialization","publication_year":2020,"publication_date":"2020-09-28","ids":{"openalex":"https://openalex.org/W3114041605","doi":"https://doi.org/10.1109/rcar49640.2020.9303318","mag":"3114041605"},"language":"en","primary_location":{"id":"doi:10.1109/rcar49640.2020.9303318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303318","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 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/A5101922976","display_name":"Tao Zheng","orcid":"https://orcid.org/0000-0001-6655-7037"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zheng","raw_affiliation_strings":["Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, China","Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017790030","display_name":"Guoyu Zuo","orcid":"https://orcid.org/0000-0002-7624-4728"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoyu Zuo","raw_affiliation_strings":["Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, China","Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044992239","display_name":"Zichen Xu","orcid":"https://orcid.org/0000-0002-3807-9637"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichen Xu","raw_affiliation_strings":["Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, China","Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010150668","display_name":"Daoxiong Gong","orcid":"https://orcid.org/0000-0003-2492-9159"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daoxiong Gong","raw_affiliation_strings":["Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, China","Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":0.28669919,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"128","last_page":"133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987999796867371,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.9202874898910522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6876627802848816},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6340717077255249},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5789487361907959},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5582964420318604},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5141463875770569},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48933523893356323},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.4885619580745697},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.471456378698349},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.446625292301178},{"id":"https://openalex.org/keywords/scale-factor","display_name":"Scale factor (cosmology)","score":0.44283178448677063},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4148534834384918},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2215958535671234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11394146084785461},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08618515729904175}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.9202874898910522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6876627802848816},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6340717077255249},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5789487361907959},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5582964420318604},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5141463875770569},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48933523893356323},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.4885619580745697},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.471456378698349},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.446625292301178},{"id":"https://openalex.org/C144386022","wikidata":"https://www.wikidata.org/wiki/Q1332997","display_name":"Scale factor (cosmology)","level":5,"score":0.44283178448677063},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4148534834384918},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2215958535671234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11394146084785461},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08618515729904175},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C20154449","wikidata":"https://www.wikidata.org/wiki/Q1129469","display_name":"Metric expansion of space","level":4,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C172790937","wikidata":"https://www.wikidata.org/wiki/Q18343","display_name":"Dark energy","level":3,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar49640.2020.9303318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303318","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 Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1998058414","https://openalex.org/W2114084853","https://openalex.org/W2118223742","https://openalex.org/W2147536420","https://openalex.org/W2314596443","https://openalex.org/W2342437324","https://openalex.org/W2538522345","https://openalex.org/W2590327367","https://openalex.org/W2594040127","https://openalex.org/W2732510496","https://openalex.org/W2798513908","https://openalex.org/W2890376682","https://openalex.org/W6740778104"],"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/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"In":[0,78,108],"the":[1,13,16,24,33,39,58,62,71,82,94,103,111,115,122,125,140,149,158,165],"monocular":[2,29,88],"vision":[3],"inertial":[4,31,90],"system,":[5,110],"an":[6],"accurate":[7,177,187],"real-time":[8,175],"initialization":[9,25,95,123],"state":[10,96],"estimator":[11,97],"is":[12,51,145],"prerequisite":[14],"for":[15],"system":[17,91,172],"to":[18,80,147,154],"maintain":[19],"steady":[20],"operation.":[21],"However,":[22],"in":[23,55,61,70,157,179],"of":[26,35,74,114,127,152],"most":[27],"current":[28],"visual":[30,89],"systems,":[32],"impact":[34],"rotation":[36],"matrix":[37],"on":[38,93],"other":[40],"external":[41,100,112],"parameters,":[42],"such":[43],"as":[44],"gyroscope":[45,129],"bias,":[46,130,132],"accelerometer":[47,131],"bias":[48],"and":[49,102,117,135,139,161,176,181,186],"velocity,":[50],"often":[52],"ignored.":[53],"Moreover,":[54],"global":[56,166],"optimization,":[57],"keyframe":[59],"constraints":[60],"sliding":[63],"window":[64,160],"are":[65,119,137],"not":[66],"fully":[67],"utilized,":[68],"resulting":[69],"continuous":[72,192],"accumulation":[73],"estimated":[75],"path":[76],"errors.":[77],"order":[79],"solve":[81],"above":[83],"problems,":[84],"we":[85],"propose":[86],"our":[87,171],"based":[92,106],"with":[98,191],"online":[99],"calibration":[101],"relative":[104,141],"pose":[105,142,188],"marginalization.":[107],"this":[109],"parameters":[113],"camera":[116],"IMU":[118],"calibrated":[120],"during":[121],"phase,":[124],"estimations":[126],"speed,":[128],"scale":[133],"factor":[134],"gravity":[136],"performed,":[138],"optimization":[143,159],"method":[144],"adopted":[146],"retain":[148],"constraint":[150],"relation":[151],"keyframes":[153],"be":[155],"marginalized":[156],"then":[162],"input":[163],"into":[164],"optimization.":[167],"Experiments":[168],"show":[169],"that":[170],"can":[173,182],"give":[174],"estimation":[178],"initialization,":[180],"realize":[183],"more":[184],"stable":[185],"estimations,":[189],"even":[190],"error":[193],"accumulation.":[194]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}