{"id":"https://openalex.org/W4391307980","doi":"https://doi.org/10.1109/smc53992.2023.10393891","title":"Monocular Visual-Inertial System Based on Adaptive Scale Recovery of Structured Features","display_name":"Monocular Visual-Inertial System Based on Adaptive Scale Recovery of Structured Features","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4391307980","doi":"https://doi.org/10.1109/smc53992.2023.10393891"},"language":"en","primary_location":{"id":"doi:10.1109/smc53992.2023.10393891","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/smc53992.2023.10393891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5077254164","display_name":"Chih-Han Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chih-Han Ma","raw_affiliation_strings":["College of Mechanical &#x0026; Electrical Engineering, National Taipei University of Technology,Taipei,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical &#x0026; Electrical Engineering, National Taipei University of Technology,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110276060","display_name":"K.J. Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ken-Chiang Wong","raw_affiliation_strings":["Institute of Mechatronic Engineering, National Taipei University of Technology,Taipei,Taiwan","Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, National Taipei University of Technology,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050425068","display_name":"Chih-Ming Hsu","orcid":"https://orcid.org/0000-0002-2793-5231"},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chih-Ming Hsu","raw_affiliation_strings":["National Taipei University of Technology,Department of Mechanical Engineering,Taipei,Taiwan","Department of Mechanical Engineering, National Taipei University of Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taipei University of Technology,Department of Mechanical Engineering,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031205987","display_name":"Jen-Hsiang Chou","orcid":"https://orcid.org/0000-0002-7003-7250"},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jen-Hsiang Chou","raw_affiliation_strings":["National Taipei University of Technology,Department of Electrical Engineering,Taipei,Taiwan","Department of Electrical Engineering, National Taipei University of Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taipei University of Technology,Department of Electrical Engineering,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]}],"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":0.20443621,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2921","last_page":"2926"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13890","display_name":"Remote Sensing and Land Use","score":0.9736999869346619,"subfield":{"id":"https://openalex.org/subfields/1902","display_name":"Atmospheric Science"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13890","display_name":"Remote Sensing and Land Use","score":0.9736999869346619,"subfield":{"id":"https://openalex.org/subfields/1902","display_name":"Atmospheric Science"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9283000230789185,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9106000065803528,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7561001777648926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6737983822822571},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6147786974906921},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6111047863960266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5961342453956604},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4338074326515198},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.41580528020858765},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06732991337776184}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7561001777648926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6737983822822571},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6147786974906921},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6111047863960266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5961342453956604},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4338074326515198},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.41580528020858765},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06732991337776184},{"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/smc53992.2023.10393891","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/smc53992.2023.10393891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1525964230","https://openalex.org/W1562603105","https://openalex.org/W1567242735","https://openalex.org/W1612997784","https://openalex.org/W1969726450","https://openalex.org/W1970504153","https://openalex.org/W1972485825","https://openalex.org/W1981699551","https://openalex.org/W1989484209","https://openalex.org/W2012502415","https://openalex.org/W2049750053","https://openalex.org/W2056358962","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2140711847","https://openalex.org/W2144491133","https://openalex.org/W2150066425","https://openalex.org/W2160821342","https://openalex.org/W2214788824","https://openalex.org/W2218842719","https://openalex.org/W2276677361","https://openalex.org/W2296228853","https://openalex.org/W2314596443","https://openalex.org/W2342437324","https://openalex.org/W2411412724","https://openalex.org/W2482726005","https://openalex.org/W2745859992","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2945772959","https://openalex.org/W2964014140","https://openalex.org/W2967494572","https://openalex.org/W2983104849","https://openalex.org/W3007240855","https://openalex.org/W3034675048","https://openalex.org/W3125449081","https://openalex.org/W3129448911","https://openalex.org/W3131898074","https://openalex.org/W4236769309","https://openalex.org/W4249866455"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2350093529","https://openalex.org/W4381188157","https://openalex.org/W2435467664","https://openalex.org/W2011626633","https://openalex.org/W2037866696","https://openalex.org/W4251947321","https://openalex.org/W2027891072"],"abstract_inverted_index":{"With":[0],"the":[1,5,12,15,30,45,54,67,103,123,127,135,141,148,151,173,192,197,201,210,222,246,251,266],"development":[2],"of":[3,14,58,69,105,126,134,143,150,175,183,224],"technology,":[4],"automation":[6],"industry":[7],"has":[8,18,66],"gradually":[9],"improved,":[10],"and":[11,24,37,62,72,86,92,132,200,216,219,234,262,270],"application":[13],"visual-inertial":[16,31,152,184,274],"system":[17,32,80,214],"become":[19],"increasingly":[20],"prosperous.":[21],"Self-driving":[22],"cars":[23],"autonomous":[25],"mobile":[26],"robots":[27],"often":[28],"use":[29],"as":[33,145,147],"a":[34,59,79],"state":[35],"estimator,":[36],"their":[38],"image":[39],"information":[40,52],"can":[41],"be":[42,119],"used":[43],"in":[44,121,163,236,250],"artificial":[46],"intelligence":[47],"part":[48],"to":[49,89,100,118,205,209],"provide":[50,206],"more":[51],"about":[53],"robot.":[55],"The":[56,130],"combination":[57],"monocular":[60,84,273],"camera":[61],"an":[63,181],"inertial":[64,87,128,136],"sensor":[65,137],"characteristics":[68],"light":[70],"weight":[71],"low":[73],"power.":[74],"Monocular":[75,94],"Visual-Inertial":[76,95],"SLAM":[77,96],"is":[78,116,157,203,229],"that":[81],"relies":[82],"on":[83,186,260],"cameras":[85],"sensors":[88],"perform":[90],"localization":[91],"mapping.":[93],"restores":[97],"its":[98],"vector":[99],"scale":[101,153,159,168,199,217,225],"with":[102,112,166,231],"help":[104],"known":[106],"extrinsic":[107],"parameter":[108],"information.":[109],"However,":[110],"compared":[111,230],"other":[113,239],"methods,":[114],"it":[115],"necessary":[117],"careful":[120],"estimating":[122],"gyroscope":[124],"bias":[125,131],"sensor.":[129],"noise":[133],"will":[138],"directly":[139],"affect":[140],"results":[142,162,249],"pre-integration,":[144],"well":[146],"accuracy":[149,174,248],"recovery.":[154],"This":[155,178,227],"phenomenon":[156],"called":[158],"uncertainty,":[160],"which":[161],"feature":[164,211],"points":[165],"uncertain":[167],"or":[169],"depth,":[170],"rapidly":[171],"reducing":[172],"pose":[176,202],"estimation.":[177],"paper":[179],"proposes":[180],"architecture":[182],"based":[185],"Structure-Scale":[187],"Adaptivity.":[188],"In":[189],"this":[190],"study,":[191],"tightly":[193],"coupled":[194],"residual":[195],"between":[196],"structure":[198,215],"designed":[204],"adaptivity":[207],"according":[208],"conditions,":[212],"providing":[213],"constraints,":[218],"thus":[220],"suppressing":[221],"problem":[223],"uncertainty.":[226],"study":[228],"state-of-the-art":[232],"algorithms":[233,240],"succeeds":[235],"scenarios":[237],"where":[238],"have":[241],"failed.":[242],"It":[243],"also":[244],"obtains":[245],"best":[247],"overall":[252],"test.":[253],"Finally,":[254],"we":[255],"evaluate":[256],"our":[257],"proposed":[258,267],"method":[259],"VCU-RVI":[261],"KITTI":[263],"datasets,":[264],"demonstrating":[265],"algorithm's":[268],"effectiveness":[269],"feasibility":[271],"for":[272],"SLAM.":[275]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
