{"id":"https://openalex.org/W4402803804","doi":"https://doi.org/10.1109/tac.2024.3466874","title":"PEBO-SLAM: Observer Design for Visual Inertial SLAM With Convergence Guarantees","display_name":"PEBO-SLAM: Observer Design for Visual Inertial SLAM With Convergence Guarantees","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4402803804","doi":"https://doi.org/10.1109/tac.2024.3466874"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3466874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3466874","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":["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/A5016993476","display_name":"Bowen Yi","orcid":"https://orcid.org/0000-0002-0517-9519"},"institutions":[{"id":"https://openalex.org/I4210133247","display_name":"Group for Research in Decision Analysis","ror":"https://ror.org/02pkvpx84","country_code":"CA","type":"facility","lineage":["https://openalex.org/I108192572","https://openalex.org/I159129438","https://openalex.org/I4210133247","https://openalex.org/I45683168","https://openalex.org/I49663120","https://openalex.org/I5023651"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bowen Yi","raw_affiliation_strings":["Department of Electrical Engineering, Polytechnique Montr&#x00E9;al and GERAD, Montr&#x00E9;al, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-0517-9519","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Polytechnique Montr&#x00E9;al and GERAD, Montr&#x00E9;al, QC, Canada","institution_ids":["https://openalex.org/I45683168","https://openalex.org/I4210133247"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100733599","display_name":"Chi Jin","orcid":"https://orcid.org/0000-0003-1690-1252"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chi Jin","raw_affiliation_strings":["TuSimple Inc., Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1690-1252","affiliations":[{"raw_affiliation_string":"TuSimple Inc., Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740405","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0002-6109-5619"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6109-5619","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101779749","display_name":"Guodong Shi","orcid":"https://orcid.org/0000-0002-5929-9655"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Guodong Shi","raw_affiliation_strings":["Australian Centre for Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5929-9655","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028642327","display_name":"Viorela Ila","orcid":"https://orcid.org/0000-0002-8137-0833"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Viorela Ila","raw_affiliation_strings":["Australian Centre for Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8137-0833","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026600708","display_name":"Ian R. Manchester","orcid":"https://orcid.org/0000-0002-7035-3173"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ian R. Manchester","raw_affiliation_strings":["Australian Centre for Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-7035-3173","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.531,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91869554,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"70","issue":"3","first_page":"1714","last_page":"1729"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9832000136375427,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9789000153541565,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/convergence","display_name":"Convergence (economics)","score":0.6840550303459167},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6728039979934692},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6596991419792175},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6484626531600952},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5342005491256714},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4790269434452057},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4253835380077362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4173276126384735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20133695006370544},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10784709453582764},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10454049706459045},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05706992745399475}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6840550303459167},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6728039979934692},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6596991419792175},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6484626531600952},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5342005491256714},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4790269434452057},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4253835380077362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4173276126384735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20133695006370544},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10784709453582764},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10454049706459045},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05706992745399475},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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":2,"locations":[{"id":"doi:10.1109/tac.2024.3466874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3466874","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:publications.polymtl.ca:59489","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article de revue"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G1737341699","display_name":null,"funder_award_id":"ICT2024A11","funder_id":"https://openalex.org/F4320326952","funder_display_name":"State Key Laboratory of Industrial Control Technology"},{"id":"https://openalex.org/G5611804467","display_name":null,"funder_award_id":"62203386","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6348409368","display_name":null,"funder_award_id":"LZ23F030008","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326952","display_name":"State Key Laboratory of Industrial Control Technology","ror":null},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W608630856","https://openalex.org/W1656165940","https://openalex.org/W1997529375","https://openalex.org/W2011754354","https://openalex.org/W2016942279","https://openalex.org/W2017585158","https://openalex.org/W2034021133","https://openalex.org/W2035491427","https://openalex.org/W2081212520","https://openalex.org/W2096052462","https://openalex.org/W2097012286","https://openalex.org/W2125691646","https://openalex.org/W2137052305","https://openalex.org/W2137924757","https://openalex.org/W2143864104","https://openalex.org/W2144319798","https://openalex.org/W2166957155","https://openalex.org/W2173487526","https://openalex.org/W2222538316","https://openalex.org/W2227841920","https://openalex.org/W2341165706","https://openalex.org/W2461937780","https://openalex.org/W2594040127","https://openalex.org/W2615146116","https://openalex.org/W2770538799","https://openalex.org/W2777102214","https://openalex.org/W2799927624","https://openalex.org/W2942052244","https://openalex.org/W2962711206","https://openalex.org/W2989649427","https://openalex.org/W3036075398","https://openalex.org/W3127132299","https://openalex.org/W3150200613","https://openalex.org/W3155632810","https://openalex.org/W3158799039","https://openalex.org/W3184407755","https://openalex.org/W3202366558","https://openalex.org/W4205749448","https://openalex.org/W4230068386","https://openalex.org/W4306174242","https://openalex.org/W4313654854","https://openalex.org/W4365790072","https://openalex.org/W4385655003","https://openalex.org/W4402906580"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W3192036299","https://openalex.org/W3125070615","https://openalex.org/W2902809339","https://openalex.org/W4394645770","https://openalex.org/W2017146877","https://openalex.org/W2603444553","https://openalex.org/W3181155743","https://openalex.org/W2050828586","https://openalex.org/W2142003981"],"abstract_inverted_index":{"In":[0,35],"this":[1,36,104],"article,":[2],"we":[3,55,106],"introduce":[4],"a":[5,21,26,78,90,108],"new":[6],"parameterization":[7],"for":[8,20],"the":[9,38,43,61,113,124],"problem":[10,64,94],"of":[11,123,144],"visual":[12],"inertial":[13,32],"simultaneous":[14],"localization":[15],"and":[16,30,98],"mapping":[17],"(VI-SLAM),":[18],"i.e.,":[19],"robot":[22],"only":[23],"equipped":[24],"with":[25],"single":[27],"monocular":[28],"camera":[29],"an":[31],"measurement":[33],"unit.":[34],"problem,":[37],"system":[39],"state":[40],"evolves":[41],"on":[42,53,103,142],"nonlinear":[44],"manifold":[45],"<inline-formula":[46],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[47,72,96,100],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[48],"notation=\"LaTeX\">$":[49],"\\mathit{SE}(3)\\times":[50],"\\mathbb":[51],"{R}^{3\\mathit{n}}$</tex-math></inline-formula>,":[52],"which":[54],"design":[56],"dynamic":[57],"extensions":[58],"such":[59],"that":[60,83,155],"deterministic":[62,84],"VI-SLAM":[63,85],"can":[65,86,156],"be":[66,87,157],"reformulated\u2014without":[67],"any":[68],"approximation\u2014into":[69],"online":[70],"<italic":[71,95,99],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">constant":[73],"parameter</i>":[74],"identification,":[75],"expressed":[76],"as":[77],"linear":[79,91],"regression.":[80],"This":[81],"demonstrates":[82],"translated":[88],"into":[89],"least":[92],"squares":[93],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">globally</i>":[97],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">exactly</i>.":[101],"Based":[102],"observation,":[105],"propose":[107],"novel":[109],"SLAM":[110],"observer,":[111],"following":[112],"recently":[114],"established":[115],"parameter":[116],"estimation-based":[117],"observer":[118,126],"methodology.":[119],"A":[120],"notable":[121],"merit":[122],"proposed":[125],"is":[127],"its":[128,137],"almost":[129],"global":[130],"asymptotic":[131],"stability.":[132],"Unlike":[133],"most":[134],"existing":[135],"methods,":[136],"convergence":[138],"does":[139],"not":[140],"rely":[141],"persistency":[143],"excitation":[145],"or":[146],"uniform":[147],"complete":[148],"observability\u2014assumptions":[149],"commonly":[150],"used":[151],"in":[152,161],"stability":[153],"proofs":[154],"challenging":[158],"to":[159],"satisfy":[160],"real-world":[162],"applications.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}