{"id":"https://openalex.org/W2762987602","doi":"https://doi.org/10.1109/tim.2017.2754678","title":"Novel EKF-Based Vision/Inertial System Integration for Improved Navigation","display_name":"Novel EKF-Based Vision/Inertial System Integration for Improved Navigation","publication_year":2017,"publication_date":"2017-10-13","ids":{"openalex":"https://openalex.org/W2762987602","doi":"https://doi.org/10.1109/tim.2017.2754678","mag":"2762987602"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2017.2754678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2017.2754678","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5010073207","display_name":"Tashfeen B. Karamat","orcid":"https://orcid.org/0000-0001-5131-7233"},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Tashfeen B. Karamat","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada","institution_ids":["https://openalex.org/I51768193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034865990","display_name":"R\u00f4mulo Gon\u00e7alves Lins","orcid":"https://orcid.org/0000-0001-9878-0081"},"institutions":[{"id":"https://openalex.org/I71715416","display_name":"Universidade Federal do ABC","ror":"https://ror.org/028kg9j04","country_code":"BR","type":"education","lineage":["https://openalex.org/I71715416"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Romulo Goncalves Lins","raw_affiliation_strings":["Center for Engineering, Modeling and Applied Social Sciences, Federal University of ABC, Santo Andr\u00e9, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Engineering, Modeling and Applied Social Sciences, Federal University of ABC, Santo Andr\u00e9, Brazil","institution_ids":["https://openalex.org/I71715416"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025867957","display_name":"Sidney Givigi","orcid":"https://orcid.org/0000-0002-3829-3545"},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sidney N. Givigi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-3829-3545","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada","institution_ids":["https://openalex.org/I51768193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091253792","display_name":"Aboelmagd Noureldin","orcid":"https://orcid.org/0000-0001-6614-7783"},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Aboelmagd Noureldin","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada","institution_ids":["https://openalex.org/I51768193"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":63.7964,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.99692049,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"67","issue":"1","first_page":"116","last_page":"125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","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/T11325","display_name":"Inertial Sensor and Navigation","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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.7505515217781067},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7326174378395081},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7031500935554504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6440569758415222},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.6293168663978577},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6227403283119202},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6177171468734741},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5998232960700989},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5901147723197937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5577079057693481},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.5420367121696472},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.41071081161499023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3681481182575226},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3119686543941498},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2620224356651306},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22329866886138916},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.09896576404571533}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7505515217781067},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7326174378395081},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7031500935554504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6440569758415222},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.6293168663978577},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6227403283119202},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6177171468734741},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5998232960700989},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5901147723197937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5577079057693481},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.5420367121696472},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.41071081161499023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3681481182575226},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3119686543941498},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2620224356651306},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22329866886138916},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.09896576404571533},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2017.2754678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2017.2754678","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W290129977","https://openalex.org/W304861154","https://openalex.org/W650923498","https://openalex.org/W1493051473","https://openalex.org/W1496431500","https://openalex.org/W1516581824","https://openalex.org/W1555614281","https://openalex.org/W1579438189","https://openalex.org/W1620042822","https://openalex.org/W1647372770","https://openalex.org/W1665940140","https://openalex.org/W1979154650","https://openalex.org/W1982044840","https://openalex.org/W2055253444","https://openalex.org/W2071763687","https://openalex.org/W2078537039","https://openalex.org/W2097197771","https://openalex.org/W2099541227","https://openalex.org/W2117686658","https://openalex.org/W2129064523","https://openalex.org/W2129440600","https://openalex.org/W2131874588","https://openalex.org/W2151611062","https://openalex.org/W2152946322","https://openalex.org/W2158477831","https://openalex.org/W2160947226","https://openalex.org/W2191663896","https://openalex.org/W2296816139","https://openalex.org/W2500428251","https://openalex.org/W2503900448","https://openalex.org/W2676037464","https://openalex.org/W2790374560","https://openalex.org/W4214503934","https://openalex.org/W6739476690"],"related_works":["https://openalex.org/W1590923801","https://openalex.org/W3121466181","https://openalex.org/W2766759697","https://openalex.org/W1982606137","https://openalex.org/W2156308897","https://openalex.org/W3175435015","https://openalex.org/W2383573797","https://openalex.org/W4306940720","https://openalex.org/W2150109772","https://openalex.org/W2391372675"],"abstract_inverted_index":{"With":[0],"advances":[1],"in":[2],"computing":[3],"power,":[4],"stereo":[5],"vision":[6,105],"has":[7,55],"become":[8],"an":[9],"essential":[10],"part":[11],"of":[12,27,104],"navigation":[13,28,53,69],"applications.":[14,117],"However,":[15],"there":[16],"may":[17],"be":[18],"instances":[19],"wherein":[20],"insufficient":[21],"image":[22],"data":[23,106],"precludes":[24],"the":[25,40,45,51,68,79,91,102],"estimation":[26,35],"parameters.":[29],"Earlier,":[30],"a":[31,59],"novel":[32],"vision-based":[33,52],"velocity":[34],"method":[36,54],"was":[37,96],"developed":[38],"by":[39],"authors,":[41],"which":[42],"suffered":[43],"from":[44,81],"aforementioned":[46],"drawback.":[47],"In":[48],"this":[49],"paper,":[50],"been":[56],"integrated":[57,86],"with":[58,78,101],"unique":[60],"low-cost":[61],"reduced":[62],"inertial":[63],"sensor":[64],"system":[65,87,109],"to":[66],"bridge":[67],"gap":[70],"using":[71],"one":[72],"gyroscope":[73],"and":[74,95],"two":[75],"accelerometers":[76],"along":[77],"inputs":[80],"wheel":[82],"speed":[83],"sensors.":[84],"The":[85,108],"is":[88],"based":[89],"on":[90,98],"extended":[92],"Kalman":[93],"filter":[94],"tested":[97],"three":[99],"trajectories":[100],"introduction":[103],"gaps.":[107],"showed":[110],"promising":[111],"results":[112],"for":[113],"autonomous":[114],"land":[115],"vehicle":[116]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}