{"id":"https://openalex.org/W3162423126","doi":"https://doi.org/10.1109/tase.2021.3077026","title":"PLC-VIO: Visual\u2013Inertial Odometry Based on Point-Line Constraints","display_name":"PLC-VIO: Visual\u2013Inertial Odometry Based on Point-Line Constraints","publication_year":2021,"publication_date":"2021-05-14","ids":{"openalex":"https://openalex.org/W3162423126","doi":"https://doi.org/10.1109/tase.2021.3077026","mag":"3162423126"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3077026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3077026","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/A5025655969","display_name":"Zhe Liu","orcid":"https://orcid.org/0000-0001-5636-790X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Liu","raw_affiliation_strings":["College of Computer, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-5636-790X","affiliations":[{"raw_affiliation_string":"College of Computer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019758816","display_name":"Dianxi Shi","orcid":"https://orcid.org/0000-0002-8112-371X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dianxi Shi","raw_affiliation_strings":["College of Computer, National University of Defense Technology, Changsha, China","Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-8112-371X","affiliations":[{"raw_affiliation_string":"College of Computer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101477550","display_name":"Ruihao Li","orcid":"https://orcid.org/0000-0002-9839-1489"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruihao Li","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9839-1489","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010448281","display_name":"Wei Qin","orcid":"https://orcid.org/0000-0002-3249-9024"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Qin","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108625236","display_name":"Yongjun Zhang","orcid":"https://orcid.org/0000-0001-9845-4251"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongjun Zhang","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100633468","display_name":"Xiaoguang Ren","orcid":"https://orcid.org/0000-0002-8048-6762"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoguang Ren","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), Defense Innovation Institute, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":24.7681,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.9903986,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"19","issue":"3","first_page":"1880","last_page":"1897"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7866151332855225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7150992155075073},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6909720301628113},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6713461875915527},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6205018758773804},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5470318794250488},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4801451861858368},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45127975940704346},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43167799711227417},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16126692295074463}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7866151332855225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7150992155075073},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6909720301628113},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6713461875915527},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6205018758773804},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5470318794250488},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4801451861858368},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45127975940704346},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43167799711227417},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16126692295074463},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2021.3077026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3077026","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1860839707","display_name":null,"funder_award_id":"2017YFB1001901","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":70,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1498041548","https://openalex.org/W1612997784","https://openalex.org/W1968315983","https://openalex.org/W1970504153","https://openalex.org/W1989484209","https://openalex.org/W2008849352","https://openalex.org/W2017489593","https://openalex.org/W2021278996","https://openalex.org/W2026230478","https://openalex.org/W2049750053","https://openalex.org/W2055904838","https://openalex.org/W2056358962","https://openalex.org/W2057488855","https://openalex.org/W2061176333","https://openalex.org/W2081501943","https://openalex.org/W2097361087","https://openalex.org/W2118223742","https://openalex.org/W2127752689","https://openalex.org/W2140599684","https://openalex.org/W2150064935","https://openalex.org/W2152671441","https://openalex.org/W2160072137","https://openalex.org/W2164514556","https://openalex.org/W2167640051","https://openalex.org/W2170282673","https://openalex.org/W2185786809","https://openalex.org/W2202897526","https://openalex.org/W2218842719","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2411918187","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2565472677","https://openalex.org/W2738596250","https://openalex.org/W2745859992","https://openalex.org/W2796916234","https://openalex.org/W2797395780","https://openalex.org/W2797929305","https://openalex.org/W2883702102","https://openalex.org/W2891343563","https://openalex.org/W2948440099","https://openalex.org/W2950380208","https://openalex.org/W2962684941","https://openalex.org/W2963200201","https://openalex.org/W2963218091","https://openalex.org/W2963656298","https://openalex.org/W2966981832","https://openalex.org/W2982210698","https://openalex.org/W2997495511","https://openalex.org/W3004008537","https://openalex.org/W3035056458","https://openalex.org/W3098250009","https://openalex.org/W3098486636","https://openalex.org/W3102327032","https://openalex.org/W3105612746","https://openalex.org/W3124420883","https://openalex.org/W3125449081","https://openalex.org/W3130066555","https://openalex.org/W4229626506","https://openalex.org/W4230766380","https://openalex.org/W4246483956","https://openalex.org/W4246614213","https://openalex.org/W6677548441","https://openalex.org/W6756486208","https://openalex.org/W6762768537"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Visual\u2013inertial":[0],"odometry":[1,175],"(VIO)":[2,176],"is":[3,114,191],"widely":[4,192,301],"studied":[5],"and":[6,36,44,57,76,99,120,136,142,188,202,289,306,313],"used":[7,193,302],"in":[8,104,194,217,281,303,316],"autonomous":[9,197,215],"robots.":[10],"This":[11],"article":[12,222],"proposes":[13,223],"a":[14,32,82,105,224],"novel":[15,225],"tightly":[16],"coupled":[17],"monocular":[18],"VIO":[19,226],"system":[20,227],"based":[21,39,49,228],"on":[22,40,50,73,229],"point-line":[23,231],"constraints":[24,53,232],"(PLC-VIO).":[25,233],"In":[26,59],"the":[27,41,51,60,74,78,87,97,134,139,143,160,179,182,208,212,218,230,246,249,265,269,272,286,292],"front":[28],"end,":[29,62],"PLC-VIO":[30,63,147,234,261,298],"presents":[31],"line":[33,75,100,250],"segment":[34],"extraction":[35],"merging":[37],"algorithm":[38],"EDLines":[42],"method":[43],"achieves":[45],"real-time":[46,167,258],"feature":[47,55,69],"tracking":[48],"geometric":[52],"between":[54],"points":[56,72],"lines.":[58],"back":[61],"reconstructs":[64],"new":[65],"3-D":[66,273],"landmarks":[67],"of":[68,138,181,210,214,248,268,291],"lines":[70],"through":[71],"optimizes":[77],"states":[79,180,213],"by":[80],"minimizing":[81],"cost":[83],"function":[84],"that":[85,146,190,297],"combines":[86],"preintegrated":[88],"inertial":[89],"measurement":[90],"unit":[91],"(IMU)":[92],"error":[93,102],"term":[94],"together":[95],"with":[96,154,163],"point":[98],"reprojection":[101],"terms":[103],"sliding":[106],"window":[107],"optimization":[108],"framework.":[109],"A":[110],"loop":[111],"closure":[112],"module":[113],"also":[115,253,263],"integrated,":[116],"which":[117],"enables":[118],"relocalization":[119],"drift":[121],"elimination.":[122],"The":[123,276],"corresponding":[124,277],"experimental":[125],"evaluations":[126],"are":[127,279],"conducted":[128],"using":[129],"public":[130,282],"datasets":[131,283],"to":[132,166,172,245,257,284,309],"validate":[133],"effectiveness":[135],"robustness":[137,290],"proposed":[140,293],"system,":[141],"results":[144],"show":[145],"can":[148,177,235,262,299],"achieve":[149,238],"good":[150],"performance":[151],"when":[152],"compared":[153],"other":[155],"state-of-the-art":[156],"systems":[157],"and,":[158],"at":[159,207],"same":[161],"time,":[162],"no":[164,255],"compromise":[165],"performance.":[168,259],"<italic":[169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[171],"Practitioners</i>":[173],"\u2014Visual\u2013inertial":[174],"estimate":[178],"rigid":[183],"body":[184],"(including":[185],"position,":[186],"attitude,":[187],"velocity)":[189],"robotic":[195,304],"navigation,":[196],"driving,":[198],"virtual":[199],"reality":[200,204],"(VR),":[201],"augmented":[203],"(AR).":[205],"Aiming":[206],"problem":[209],"estimating":[211],"robots":[216,243],"GPS-denied":[219],"environment,":[220],"this":[221],"not":[236],"only":[237],"accurate":[239,311],"pose":[240],"estimation":[241],"for":[242],"due":[244],"introduction":[247],"features":[251,267],"but":[252],"make":[254],"concession":[256],"Furthermore,":[260],"enrich":[264],"texture":[266],"environment":[270,314],"during":[271],"mapping":[274],"construction.":[275],"experiments":[278],"implemented":[280],"evaluate":[285],"effectiveness,":[287],"efficiency,":[288],"system.":[294],"We":[295],"believe":[296],"be":[300],"navigation":[305],"AR/VR":[307],"fields":[308],"provide":[310],"position":[312],"information":[315],"real":[317],"time.":[318]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
