{"id":"https://openalex.org/W4320059639","doi":"https://doi.org/10.1109/ssrr56537.2022.10018692","title":"Online Multi Camera-IMU Calibration","display_name":"Online Multi Camera-IMU Calibration","publication_year":2022,"publication_date":"2022-11-08","ids":{"openalex":"https://openalex.org/W4320059639","doi":"https://doi.org/10.1109/ssrr56537.2022.10018692"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr56537.2022.10018692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018692","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"preprint","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/A5058853078","display_name":"Jacob Hartzer","orcid":"https://orcid.org/0000-0002-3051-2213"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jacob Hartzer","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5053144325","display_name":"Srikanth Saripalli","orcid":"https://orcid.org/0000-0002-3906-7574"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Srikanth Saripalli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6463,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.67657203,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"360","last_page":"365"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7476751208305359},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7369861006736755},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6722196936607361},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6237726211547852},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5768266916275024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5634304881095886},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5398288369178772},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5257759094238281},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5110198259353638},{"id":"https://openalex.org/keywords/fiducial-marker","display_name":"Fiducial marker","score":0.4323035180568695},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3358914256095886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23124581575393677},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11077260971069336},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08678072690963745}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7476751208305359},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7369861006736755},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6722196936607361},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6237726211547852},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5768266916275024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5634304881095886},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5398288369178772},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5257759094238281},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5110198259353638},{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.4323035180568695},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3358914256095886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23124581575393677},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11077260971069336},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08678072690963745},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr56537.2022.10018692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018692","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.47999998927116394,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1488888263","https://openalex.org/W1994349244","https://openalex.org/W1998058414","https://openalex.org/W2059264085","https://openalex.org/W2078713684","https://openalex.org/W2102344727","https://openalex.org/W2111535872","https://openalex.org/W2119363765","https://openalex.org/W2138566468","https://openalex.org/W2138867239","https://openalex.org/W2238582461","https://openalex.org/W2495681058","https://openalex.org/W2768018028","https://openalex.org/W2772494217","https://openalex.org/W2980882558","https://openalex.org/W3089365496","https://openalex.org/W3091667825","https://openalex.org/W3093453837","https://openalex.org/W3134432446","https://openalex.org/W6784858207","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2525537761","https://openalex.org/W2072325087","https://openalex.org/W2905789513","https://openalex.org/W402593573","https://openalex.org/W2004312940","https://openalex.org/W2374361882","https://openalex.org/W1969479488","https://openalex.org/W1909961747","https://openalex.org/W1938318326","https://openalex.org/W2991246638"],"abstract_inverted_index":{"Visual-inertial":[0],"navigation":[1,24,29],"systems":[2,14,30],"are":[3,31,51],"powerful":[4],"in":[5,53,106],"their":[6],"ability":[7],"to":[8,61,80,85,95,116,142,154],"accurately":[9],"estimate":[10,117],"localization":[11],"of":[12,22,39,74,98,124,133,138,148],"mobile":[13],"within":[15],"complex":[16],"environments":[17],"that":[18,101],"preclude":[19],"the":[20,40,71,82,90,131,144,149,158],"use":[21,97,132],"global":[23],"satellite":[25],"systems.":[26,55,77],"However,":[27],"these":[28,49],"reliant":[32],"on":[33],"accurate":[34],"and":[35,69,146,165],"up-to-date":[36],"temporospatial":[37],"calibrations":[38],"sensors":[41],"being":[42],"used.":[43],"As":[44],"such,":[45],"online":[46],"estimators":[47],"for":[48,67],"parameters":[50,73,120],"useful":[52],"resilient":[54],"This":[56],"paper":[57],"presents":[58],"an":[59],"extension":[60],"existing":[62],"Kalman":[63],"Filter":[64],"based":[65],"frameworks":[66],"estimating":[68],"calibrating":[70],"extrinsic":[72],"multi-camera":[75],"IMU":[76],"In":[78],"addition":[79],"extending":[81],"filter":[83,112,150,160],"framework":[84],"include":[86],"multiple":[87],"camera":[88],"sensors,":[89],"measurement":[91,99],"model":[92],"was":[93,114],"reformulated":[94],"make":[96],"data":[100],"is":[102,166],"typically":[103],"made":[104],"available":[105,167],"fiducial":[107],"detection":[108],"software.":[109],"A":[110],"secondary":[111],"layer":[113],"used":[115,141],"time":[118],"translation":[119],"without":[121],"closed-loop":[122],"feedback":[123],"sensor":[125],"data.":[126],"Experimental":[127],"calibration":[128],"results,":[129],"including":[130],"cameras":[134],"with":[135],"non-overlapping":[136],"fields":[137],"view,":[139],"were":[140],"validate":[143],"stability":[145],"accuracy":[147],"formulation":[151],"when":[152],"compared":[153],"offline":[155],"methods.":[156],"Finally":[157],"generalized":[159],"code":[161],"has":[162],"been":[163],"open-sourced":[164],"online.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}