{"id":"https://openalex.org/W4405489952","doi":"https://doi.org/10.1109/sensors60989.2024.10784487","title":"UWB-Visual-Inertial Fusion Localization with Fast and Robust UWB Extrinsic Calibration","display_name":"UWB-Visual-Inertial Fusion Localization with Fast and Robust UWB Extrinsic Calibration","publication_year":2024,"publication_date":"2024-10-20","ids":{"openalex":"https://openalex.org/W4405489952","doi":"https://doi.org/10.1109/sensors60989.2024.10784487"},"language":"en","primary_location":{"id":"doi:10.1109/sensors60989.2024.10784487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sensors60989.2024.10784487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE SENSORS","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":null,"display_name":"Zhognqi Yin","orcid":null},"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":"Zhognqi Yin","raw_affiliation_strings":["Harbin Institute of Technology,Harbin,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,Harbin,China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363910","display_name":"Wenqiang Li","orcid":"https://orcid.org/0000-0003-3696-1893"},"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":"Wenqiang Li","raw_affiliation_strings":["Harbin Institute of Technology,Harbin,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,Harbin,China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069987140","display_name":"Feng Shen","orcid":"https://orcid.org/0000-0003-3671-7014"},"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":"Feng Shen","raw_affiliation_strings":["Harbin Institute of Technology,Harbin,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,Harbin,China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12024","display_name":"Ultra-Wideband Communications Technology","score":0.9879999756813049,"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"}},"topics":[{"id":"https://openalex.org/T12024","display_name":"Ultra-Wideband Communications Technology","score":0.9879999756813049,"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/T11739","display_name":"Microwave Imaging and Scattering Analysis","score":0.9632999897003174,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11609","display_name":"Geophysical Methods and Applications","score":0.9596999883651733,"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/calibration","display_name":"Calibration","score":0.6436944007873535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6194103360176086},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5502210259437561},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5477386116981506},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4374848008155823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3436802625656128},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3421367406845093},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18040627241134644}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6436944007873535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6194103360176086},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5502210259437561},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5477386116981506},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4374848008155823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3436802625656128},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3421367406845093},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18040627241134644},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sensors60989.2024.10784487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sensors60989.2024.10784487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE SENSORS","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1976456943","https://openalex.org/W2118223742","https://openalex.org/W2167694888","https://openalex.org/W2342437324","https://openalex.org/W2419212966","https://openalex.org/W2745859992","https://openalex.org/W2797395780","https://openalex.org/W2908571003","https://openalex.org/W2910261328","https://openalex.org/W3004827783","https://openalex.org/W3090955299","https://openalex.org/W3091459796","https://openalex.org/W3091667825","https://openalex.org/W3127901219","https://openalex.org/W3171403475","https://openalex.org/W3180277944","https://openalex.org/W3191633065","https://openalex.org/W3205648779","https://openalex.org/W3214208961","https://openalex.org/W4310014471","https://openalex.org/W4312234397","https://openalex.org/W4379620541","https://openalex.org/W4383109537","https://openalex.org/W4388854324","https://openalex.org/W4389665464"],"related_works":["https://openalex.org/W3125070615","https://openalex.org/W4389558692","https://openalex.org/W2883846442","https://openalex.org/W2304693145","https://openalex.org/W2550340908","https://openalex.org/W2099421762","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,27,84,90,103,124,151],"realize":[3,85],"the":[4,10,15,20,40,110,118,126,132,138,148,154,158,164],"lightweight":[5],"and":[6,31,60,76,122,161],"low-drift":[7],"localization":[8,69,159],"of":[9,17,35,42,109,120,135,163],"autonomous":[11],"robot":[12],"system":[13,43,70],"under":[14],"condition":[16],"satellite":[18],"rejection,":[19],"extended":[21,73],"Kalman":[22,74],"filter":[23],"can":[24],"be":[25],"used":[26],"fuse":[28],"UWB,":[29],"camera":[30],"IMU.":[32],"The":[33,113],"accuracy":[34,41,160],"UWB":[36,51,78,93,111,123],"extrinsic":[37,52,94],"estimation":[38],"influences":[39],"positioning.":[44],"Therefore,":[45],"this":[46],"paper":[47],"proposes":[48],"an":[49,66,100],"automatic":[50],"calibration":[53],"method,":[54],"which":[55],"includes":[56],"two":[57],"steps:":[58],"initialization":[59,101],"online":[61,86],"update.":[62],"First,":[63],"we":[64,98,142],"establish":[65],"UWB-Visual-Inertial":[67],"fusion":[68],"based":[71,116,146],"on":[72,117,147],"filter,":[75],"use":[77],"external":[79],"parameters":[80],"as":[81,89],"state":[82],"variables":[83],"update,":[87],"so":[88],"effectively":[91],"suppress":[92],"noise":[95],"distur-bance.":[96],"Then,":[97],"propose":[99],"method":[102,114,156],"obtain":[104,125],"a":[105],"good":[106],"initial":[107,127,139],"value":[108,128],"extrinsic.":[112],"is":[115],"data":[119],"VIO":[121],"by":[129],"optimization,":[130],"avoiding":[131],"cumbersome":[133],"steps":[134],"manually":[136],"calibrating":[137],"value.":[140],"Finally,":[141],"do":[143],"simulation":[144],"experiments":[145],"public":[149],"dataset":[150],"verify":[152],"that":[153],"proposed":[155],"improves":[157],"robustness":[162],"system.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
