{"id":"https://openalex.org/W3103458591","doi":"https://doi.org/10.1109/tac.2018.2879766","title":"Hybrid Pose and Velocity-Bias Estimation on $SE(3)$ Using Inertial and Landmark Measurements","display_name":"Hybrid Pose and Velocity-Bias Estimation on $SE(3)$ Using Inertial and Landmark Measurements","publication_year":2018,"publication_date":"2018-11-26","ids":{"openalex":"https://openalex.org/W3103458591","doi":"https://doi.org/10.1109/tac.2018.2879766","mag":"3103458591"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2018.2879766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2018.2879766","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1805.00897","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100343762","display_name":"Miaomiao Wang","orcid":"https://orcid.org/0000-0001-7498-5162"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Miaomiao Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Western Ontario, London, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7498-5162","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025598794","display_name":"Abdelhamid Tayebi","orcid":"https://orcid.org/0000-0002-9049-4651"},"institutions":[{"id":"https://openalex.org/I72541430","display_name":"Lakehead University","ror":"https://ror.org/023p7mg82","country_code":"CA","type":"education","lineage":["https://openalex.org/I72541430"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Abdelhamid Tayebi","raw_affiliation_strings":["Department of Electrical Engineering, Lakehead University, Thunder Bay, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9049-4651","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Lakehead University, Thunder Bay, ON, Canada","institution_ids":["https://openalex.org/I72541430"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":45.4124,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99517501,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"64","issue":"8","first_page":"3399","last_page":"3406"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","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/T11325","display_name":"Inertial Sensor and Navigation","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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9915000200271606,"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/landmark","display_name":"Landmark","score":0.8939535021781921},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5784816741943359},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5358973741531372},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5322847962379456},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4979233741760254},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4228825867176056},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3375849723815918},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.3357350826263428},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16745537519454956},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1594284176826477},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08283448219299316},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07394775748252869}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8939535021781921},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5784816741943359},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5358973741531372},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5322847962379456},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4979233741760254},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4228825867176056},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3375849723815918},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.3357350826263428},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16745537519454956},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1594284176826477},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08283448219299316},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07394775748252869}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2018.2879766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2018.2879766","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1805.00897","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1805.00897","pdf_url":"https://arxiv.org/pdf/1805.00897","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1805.00897","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1805.00897","pdf_url":"https://arxiv.org/pdf/1805.00897","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3103458591.pdf","grobid_xml":"https://content.openalex.org/works/W3103458591.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1487267921","https://openalex.org/W1515493836","https://openalex.org/W1569239057","https://openalex.org/W1974891356","https://openalex.org/W2006863675","https://openalex.org/W2007751090","https://openalex.org/W2067603665","https://openalex.org/W2083570532","https://openalex.org/W2090347046","https://openalex.org/W2099308299","https://openalex.org/W2125691646","https://openalex.org/W2127918239","https://openalex.org/W2128972576","https://openalex.org/W2132240870","https://openalex.org/W2143083305","https://openalex.org/W2166957155","https://openalex.org/W2169772828","https://openalex.org/W2171541961","https://openalex.org/W2244651041","https://openalex.org/W2290171771","https://openalex.org/W2412135674","https://openalex.org/W2600460659","https://openalex.org/W2614898534","https://openalex.org/W2729396660","https://openalex.org/W2783919363","https://openalex.org/W2962965379","https://openalex.org/W4234144186","https://openalex.org/W6678848384"],"related_works":["https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W2024124515","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W23037264","https://openalex.org/W2374423985","https://openalex.org/W2942773919","https://openalex.org/W2977244052","https://openalex.org/W2782016042"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,84],"the":[4,13,45,61,73],"design":[5],"of":[6,54],"globally":[7],"exponentially":[8],"stable":[9],"invariant":[10],"observers":[11],"on":[12,27,33],"Special":[14],"Euclidian":[15],"group":[16],"SE(3).":[17],"First,":[18],"we":[19],"propose":[20],"a":[21,28,67],"generic":[22,29],"hybrid":[23],"estimation":[24,47,63],"scheme":[25,48,64],"(depending":[26],"potential":[30],"function)":[31],"evolving":[32],"SE(3)":[34],"\u00d7":[35],"\u211d6for":[36],"pose":[37],"(orientation":[38],"and":[39,41,57,87],"position)":[40],"velocity-bias":[42],"estimation.":[43],"Thereafter,":[44],"proposed":[46,62],"is":[49,77],"formulated":[50],"explicitly":[51],"in":[52,81],"terms":[53],"inertial":[55],"vectors":[56],"landmark":[58],"measurements.":[59],"Interestingly,":[60],"leads":[65],"to":[66],"decoupled":[68],"rotational":[69],"error":[70],"dynamics":[71],"from":[72],"translational":[74],"dynamics,":[75],"which":[76],"an":[78],"interesting":[79],"feature":[80],"practical":[82],"applications":[83],"noisy":[85],"measurements":[86],"disturbances.":[88]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2020-11-23T00:00:00"}