{"id":"https://openalex.org/W4312322203","doi":"https://doi.org/10.1109/taes.2022.3213787","title":"A Gaussian-Generalized-Inverse-Gaussian Joint-Distribution-Based Adaptive MSCKF for Visual-Inertial Odometry Navigation","display_name":"A Gaussian-Generalized-Inverse-Gaussian Joint-Distribution-Based Adaptive MSCKF for Visual-Inertial Odometry Navigation","publication_year":2022,"publication_date":"2022-10-12","ids":{"openalex":"https://openalex.org/W4312322203","doi":"https://doi.org/10.1109/taes.2022.3213787"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2022.3213787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3213787","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Aerospace and Electronic Systems","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/A5011586621","display_name":"Chao Xue","orcid":"https://orcid.org/0000-0002-3614-7974"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xue","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-3614-7974","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091074416","display_name":"Yulong Huang","orcid":"https://orcid.org/0000-0001-9303-9083"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulong Huang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9303-9083","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076880724","display_name":"Cheng Zhao","orcid":"https://orcid.org/0000-0002-8973-9164"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Zhao","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100369692","display_name":"Xiaodong Li","orcid":"https://orcid.org/0000-0001-9435-3330"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong Li","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006505402","display_name":"Lyudmila Mihaylova","orcid":"https://orcid.org/0000-0001-5856-2223"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lyudmila Mihaylova","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5856-2223","affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100642147","display_name":"Youfu Li","orcid":"https://orcid.org/0000-0002-5227-1326"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Youfu Li","raw_affiliation_strings":["Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-5227-1326","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007993661","display_name":"Jonathon A. Chambers","orcid":"https://orcid.org/0000-0002-7224-8553"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Jonathon A. Chambers","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","School of Engineering, Newcastle University, Newcastle Upon Tyne, U.K"],"raw_orcid":"https://orcid.org/0000-0002-7224-8553","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"School of Engineering, Newcastle University, Newcastle Upon Tyne, U.K","institution_ids":["https://openalex.org/I84884186"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.3066,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.98747483,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"59","issue":"3","first_page":"2307","last_page":"2328"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9945999979972839,"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/odometry","display_name":"Odometry","score":0.6996988654136658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6159181594848633},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5721055865287781},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5707876682281494},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5220142006874084},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5136677622795105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5118943452835083},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.4979732036590576},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.48683518171310425},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.4765242338180542},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4315345883369446},{"id":"https://openalex.org/keywords/adaptive-estimator","display_name":"Adaptive estimator","score":0.4273323118686676},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.41798195242881775},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3912576138973236},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.344808965921402},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2972033619880676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17183443903923035},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11366119980812073},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10469555854797363}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6996988654136658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6159181594848633},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5721055865287781},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5707876682281494},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5220142006874084},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5136677622795105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5118943452835083},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.4979732036590576},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.48683518171310425},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4765242338180542},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4315345883369446},{"id":"https://openalex.org/C2780617739","wikidata":"https://www.wikidata.org/wiki/Q4680738","display_name":"Adaptive estimator","level":3,"score":0.4273323118686676},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.41798195242881775},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3912576138973236},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.344808965921402},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2972033619880676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17183443903923035},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11366119980812073},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10469555854797363},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/taes.2022.3213787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3213787","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Aerospace and Electronic Systems","raw_type":"journal-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:191632","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2834408810","display_name":null,"funder_award_id":"3072021CFT0401","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4601096759","display_name":null,"funder_award_id":"62173105","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G568239270","display_name":null,"funder_award_id":"61903097","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W794239199","https://openalex.org/W1963718895","https://openalex.org/W1989192434","https://openalex.org/W2000721204","https://openalex.org/W2005596676","https://openalex.org/W2012526720","https://openalex.org/W2027055074","https://openalex.org/W2038889147","https://openalex.org/W2046083157","https://openalex.org/W2048305092","https://openalex.org/W2048312361","https://openalex.org/W2056358962","https://openalex.org/W2071511936","https://openalex.org/W2083875265","https://openalex.org/W2091790851","https://openalex.org/W2095376999","https://openalex.org/W2114240282","https://openalex.org/W2118223742","https://openalex.org/W2133352538","https://openalex.org/W2137585588","https://openalex.org/W2145834063","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2156064084","https://openalex.org/W2396274919","https://openalex.org/W2570039923","https://openalex.org/W2575097171","https://openalex.org/W2587858528","https://openalex.org/W2612922558","https://openalex.org/W2737188128","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2906822717","https://openalex.org/W2909063396","https://openalex.org/W2944846513","https://openalex.org/W2962987986","https://openalex.org/W2993766500","https://openalex.org/W3017995038","https://openalex.org/W3035035451","https://openalex.org/W3091667825","https://openalex.org/W3116042716","https://openalex.org/W4246614213","https://openalex.org/W6622745955","https://openalex.org/W6677871018","https://openalex.org/W6758162286"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W2904384437","https://openalex.org/W1974000832","https://openalex.org/W2158579220"],"abstract_inverted_index":{"The":[0,132],"visual-inertial":[1],"odometry":[2],"(VIO)":[3],"navigation":[4,17,60,128],"system":[5,129],"plays":[6],"an":[7,72,90],"important":[8],"role":[9],"in":[10,15,42,218],"providing":[11],"accurate":[12,142],"localization":[13],"information":[14],"absolute":[16],"information-denied":[18],"environments,":[19],"such":[20,33],"as":[21,34,89,108],"indoors":[22],"and":[23,39,54,161,178,188,191,211,220],"obstruction-filled":[24],"scenes.":[25],"However,":[26],"the":[27,45,49,56,62,78,85,102,116,120,126,145,153,157,170,173,186,194,201,206,215],"working":[28],"environment":[29],"may":[30],"be":[31,52],"dynamic,":[32],"due":[35],"to":[36,111,151,168,184],"illumination":[37],"variations":[38],"texture":[40],"changing":[41],"which":[43,119],"case":[44],"measurement":[46,64],"noise":[47,65],"of":[48,115,172,193],"camera":[50],"will":[51],"nonstationary,":[53],"thereby,":[55],"VIO":[57,127,197],"exhibits":[58],"poor":[59],"using":[61],"fixed":[63],"covariance":[66],"matrix":[67,92],"(MNCM).":[68],"This":[69],"article":[70],"proposes":[71],"adaptive":[73,113,122,134,196],"filter":[74,82,123,135,198],"framework":[75,124,136],"based":[76],"on":[77],"multistate":[79],"constraint":[80],"Kalman":[81],"(MSCKF).":[83],"First,":[84],"MNCM":[86,97,143],"is":[87,105,130,149,209],"regarded":[88],"identity":[91],"multiplied":[93],"by":[94],"a":[95,140],"scalar":[96],"coefficient":[98],"that":[99],"together":[100],"with":[101],"state":[103],"vector":[104],"jointly":[106],"modeled":[107],"Gaussian-generalized-inverse-Gaussian":[109],"distributed":[110],"achieve":[112],"adjustment":[114],"MNCM,":[117],"from":[118],"proposed":[121,133,174,195,207],"for":[125],"derived.":[131],"can":[137],"theoretically":[138],"employ":[139],"more":[141],"during":[144],"filtering":[146],"and,":[147],"thus,":[148],"expected":[150],"outperform":[152],"traditional":[154,216],"MSCKF.":[155],"Second,":[156],"convergence,":[158],"computational":[159],"complexity,":[160],"initial":[162],"parameters":[163],"influence":[164],"analyses":[165],"are":[166,181],"given":[167],"illustrate":[169],"validity":[171],"framework.":[175],"Finally,":[176],"simulation":[177],"experimental":[179],"studies":[180],"carried":[182],"out":[183],"verify":[185],"theoretical":[187],"practical":[189],"effectiveness":[190],"superiority":[192],"framework,":[199],"where":[200],"EuRoC":[202],"datasets":[203],"testing":[204],"shows":[205],"method":[208],"22%":[210],"29%":[212],"better":[213],"than":[214],"MSCKF":[217],"position":[219],"orientation":[221],"estimation,":[222],"respectively.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}