{"id":"https://openalex.org/W2342437324","doi":"https://doi.org/10.1109/tase.2016.2550621","title":"Monocular Visual\u2013Inertial State Estimation With Online Initialization and Camera\u2013IMU Extrinsic Calibration","display_name":"Monocular Visual\u2013Inertial State Estimation With Online Initialization and Camera\u2013IMU Extrinsic Calibration","publication_year":2016,"publication_date":"2016-04-29","ids":{"openalex":"https://openalex.org/W2342437324","doi":"https://doi.org/10.1109/tase.2016.2550621","mag":"2342437324"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2016.2550621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2016.2550621","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5017676576","display_name":"Zhenfei Yang","orcid":"https://orcid.org/0000-0003-3994-0975"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Zhenfei Yang","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017676576"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":78.6012,"has_fulltext":false,"cited_by_count":273,"citation_normalized_percentile":{"value":0.99965087,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"14","issue":"1","first_page":"39","last_page":"51"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9972000122070312,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.8538473844528198},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7877871990203857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7493076324462891},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.670728325843811},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6596362590789795},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5563303828239441},{"id":"https://openalex.org/keywords/gimbal","display_name":"Gimbal","score":0.4831966161727905},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4773833155632019},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22367101907730103},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12730193138122559}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8538473844528198},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7877871990203857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7493076324462891},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.670728325843811},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6596362590789795},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5563303828239441},{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.4831966161727905},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4773833155632019},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22367101907730103},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12730193138122559},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2016.2550621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2016.2550621","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-77730","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-77730","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2887656940","display_name":null,"funder_award_id":"R9341","funder_id":"https://openalex.org/F4320323537","funder_display_name":"Hong Kong University of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320323537","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W61199030","https://openalex.org/W1498041548","https://openalex.org/W1969726450","https://openalex.org/W1970504153","https://openalex.org/W1976456943","https://openalex.org/W1981699551","https://openalex.org/W1982318371","https://openalex.org/W1998058414","https://openalex.org/W2000146415","https://openalex.org/W2006368361","https://openalex.org/W2017489593","https://openalex.org/W2046033161","https://openalex.org/W2049750053","https://openalex.org/W2051349034","https://openalex.org/W2054289217","https://openalex.org/W2055904838","https://openalex.org/W2056358962","https://openalex.org/W2091790851","https://openalex.org/W2093248470","https://openalex.org/W2097746168","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2142876261","https://openalex.org/W2147536420","https://openalex.org/W2151290401","https://openalex.org/W2152953739","https://openalex.org/W2214788824","https://openalex.org/W2276677361","https://openalex.org/W2294390014","https://openalex.org/W2322663700","https://openalex.org/W2509493982","https://openalex.org/W4246483956","https://openalex.org/W6602427270","https://openalex.org/W6677548441","https://openalex.org/W6677871018","https://openalex.org/W6694524076","https://openalex.org/W6724925041"],"related_works":["https://openalex.org/W2365225477","https://openalex.org/W2384517232","https://openalex.org/W154709440","https://openalex.org/W2024266781","https://openalex.org/W1633054722","https://openalex.org/W2524102889","https://openalex.org/W2351888857","https://openalex.org/W2407941237","https://openalex.org/W2099745032","https://openalex.org/W2372609347"],"abstract_inverted_index":{"There":[0],"have":[1],"been":[2],"increasing":[3],"demands":[4],"for":[5,12,60,135],"developing":[6],"microaerial":[7],"vehicles":[8],"with":[9,153,169],"vision-based":[10],"autonomy":[11],"search":[13],"and":[14,36,50,70,88,101,130,161,176,192],"rescue":[15],"missions":[16],"in":[17,98,159,163,189],"complex":[18],"environments.":[19],"In":[20,53],"particular,":[21],"the":[22,67,72,93,117,121,183,186],"monocular":[23,64],"visual-inertial":[24],"system":[25],"(VINS),":[26],"which":[27],"consists":[28],"of":[29,63,120,150,185],"only":[30],"an":[31],"inertial":[32],"measurement":[33],"unit":[34],"(IMU)":[35],"a":[37,40,77,125,170],"camera,":[38],"forms":[39],"great":[41],"lightweight":[42],"sensor":[43],"suite":[44],"due":[45],"to":[46,82,147],"its":[47],"low":[48],"weight":[49],"small":[51],"footprint.":[52],"this":[54],"paper,":[55],"we":[56],"address":[57],"two":[58],"challenges":[59],"rapid":[61],"deployment":[62],"VINS:":[65],"1)":[66],"initialization":[68],"problem":[69],"2)":[71],"calibration":[73,91,149,174],"problem.":[74],"We":[75,138,165,180],"propose":[76],"methodology":[78],"that":[79,143],"is":[80,124],"able":[81],"initialize":[83],"velocity,":[84],"gravity,":[85],"visual":[86,133],"scale,":[87],"camera-IMU":[89,151],"extrinsic":[90],"on":[92],"fly.":[94],"Our":[95],"approach":[96,188],"operates":[97],"natural":[99],"environments":[100],"does":[102,110],"not":[103,111],"use":[104],"any":[105,113],"artificial":[106],"markers.":[107],"It":[108,123],"also":[109,181],"require":[112],"prior":[114],"knowledge":[115],"about":[116],"mechanical":[118],"configuration":[119],"system.":[122],"significant":[126],"step":[127],"toward":[128],"plug-and-play":[129],"highly":[131],"customizable":[132],"navigation":[134],"mobile":[136],"robots.":[137],"show":[139,177],"through":[140],"online":[141],"experiments":[142],"our":[144],"method":[145,168,175],"leads":[146],"accurate":[148],"transformation,":[152],"errors":[154],"less":[155],"than":[156],"0.02":[157],"m":[158],"translation":[160],"1\u00b0":[162],"rotation.":[164],"compare":[166],"out":[167],"state-of-the-art":[171],"marker-based":[172],"offline":[173],"superior":[178],"results.":[179],"demonstrate":[182],"performance":[184],"proposed":[187],"large-scale":[190],"indoor":[191],"outdoor":[193],"experiments.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":31},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":42},{"year":2020,"cited_by_count":29},{"year":2019,"cited_by_count":46},{"year":2018,"cited_by_count":32},{"year":2017,"cited_by_count":24},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}