{"id":"https://openalex.org/W4392188328","doi":"https://doi.org/10.1109/tim.2024.3370759","title":"Enhance Pose and Extrinsic Accuracy With Online Spatial and Temporal Compensation in Monocular Camera-Aided GNSS/SINS Integration","display_name":"Enhance Pose and Extrinsic Accuracy With Online Spatial and Temporal Compensation in Monocular Camera-Aided GNSS/SINS Integration","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392188328","doi":"https://doi.org/10.1109/tim.2024.3370759"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3370759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3370759","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/A5003223232","display_name":"J. Y. Hu","orcid":"https://orcid.org/0009-0005-8031-6703"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Hu","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China","School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0009-0005-8031-6703","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048823183","display_name":"Weihao Lei","orcid":"https://orcid.org/0009-0006-5767-8316"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihao Lei","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0009-0006-5767-8316","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]},{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005978200","display_name":"Desheng Zhuo","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Desheng Zhuo","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China","School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0009-0002-1567-2929","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017475936","display_name":"Feng Zhu","orcid":"https://orcid.org/0000-0002-4946-3407"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Zhu","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China","School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0002-4946-3407","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053240621","display_name":"Wanke Liu","orcid":"https://orcid.org/0000-0003-4322-4373"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanke Liu","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China","School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China","Hubei Luojia Laboratory, 129 Luoyu Road, Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0003-4322-4373","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, 129 Luoyu Road, Wuhan, Hubei, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100330113","display_name":"Xiaohong Zhang","orcid":"https://orcid.org/0000-0002-2763-2548"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohong Zhang","raw_affiliation_strings":["Hubei Luojia Laboratory, Wuhan, China","Chinese Antarctic Center of Surveying and Mapping, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China","Hubei Luojia Laboratory, 129 Luoyu Road, Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0002-2763-2548","affiliations":[{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan, China","institution_ids":[]},{"raw_affiliation_string":"Chinese Antarctic Center of Surveying and Mapping, Wuhan University, 129 Luoyu Road, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, 129 Luoyu Road, Wuhan, Hubei, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003223232"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":6.8305,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.95744132,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"16"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994000196456909,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.8880212306976318},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6584734916687012},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6326563358306885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6230686902999878},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.61319899559021},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5106387734413147},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34154027700424194},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3039896488189697},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16489183902740479},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13426151871681213}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8880212306976318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6584734916687012},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6326563358306885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6230686902999878},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.61319899559021},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5106387734413147},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34154027700424194},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3039896488189697},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16489183902740479},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13426151871681213},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3370759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3370759","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":[{"id":"https://openalex.org/G2636476088","display_name":null,"funder_award_id":"42104021","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3129829289","display_name":null,"funder_award_id":"2022YFB3903802","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/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":36,"referenced_works":["https://openalex.org/W1505310524","https://openalex.org/W1633992560","https://openalex.org/W1984626222","https://openalex.org/W1988746662","https://openalex.org/W1998058414","https://openalex.org/W2056358962","https://openalex.org/W2072986918","https://openalex.org/W2077751272","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2128516964","https://openalex.org/W2140924050","https://openalex.org/W2165421589","https://openalex.org/W2166132830","https://openalex.org/W2625043143","https://openalex.org/W2745859992","https://openalex.org/W2773820792","https://openalex.org/W2908571003","https://openalex.org/W2922457702","https://openalex.org/W2962987986","https://openalex.org/W2983756949","https://openalex.org/W3043971245","https://openalex.org/W3091667825","https://openalex.org/W3108666777","https://openalex.org/W3128469109","https://openalex.org/W3138764046","https://openalex.org/W3186844947","https://openalex.org/W3195417757","https://openalex.org/W3203218344","https://openalex.org/W4206728090","https://openalex.org/W4221156536","https://openalex.org/W4293153903","https://openalex.org/W4313892750","https://openalex.org/W4379382340","https://openalex.org/W6631989691","https://openalex.org/W6636833840"],"related_works":["https://openalex.org/W4386936491","https://openalex.org/W3007931018","https://openalex.org/W3110195467","https://openalex.org/W3033823235","https://openalex.org/W2881093137","https://openalex.org/W4391128647","https://openalex.org/W4384916587","https://openalex.org/W2163330330","https://openalex.org/W1982137911","https://openalex.org/W2753457386"],"abstract_inverted_index":{"Continuous,":[0],"reliable,":[1],"and":[2,12,100,111,125,132,136,141,154,179,183,189],"accurate":[3,40],"pose":[4,41,99,227],"estimation":[5],"is":[6,160,201],"the":[7,32,50,72,98,105,129,146,173,193,196,226,230],"basis":[8],"for":[9,181],"perception,":[10],"planning,":[11],"control,":[13],"which":[14,56,216],"are":[15],"parts":[16],"of":[17,134,151,195,229],"an":[18,91],"autonomous":[19],"vehicle":[20],"system":[21,36,54,75,121,200],"or":[22,84],"a":[23,116,163],"mobile":[24],"robot":[25],"system.":[26,232],"For":[27],"complementarity":[28],"to":[29],"each":[30],"other,":[31],"global":[33],"navigation":[34,53],"satellite":[35],"(GNSS)":[37],"can":[38,57,223],"achieve":[39],"solutions":[42],"in":[43,71,87,213],"many":[44],"cases":[45],"after":[46,185],"being":[47],"integrated":[48],"with":[49,122,145,162,203],"strap-down":[51],"inertial":[52],"(SINS),":[55],"be":[58,69,139],"further":[59,217],"enhanced":[60],"via":[61],"fusing":[62],"visual":[63],"information.":[64,191],"However,":[65],"unmodeled":[66],"errors":[67],"will":[68,95,138],"introduced":[70],"multi-sensor":[73,198],"fusion":[74,199,231],"by":[76,81,109,177,211],"inaccurate":[77],"spatial":[78,110,124],"parameters":[79],"caused":[80],"coarse":[82],"calibration":[83],"slight":[85],"changes":[86],"mechanical":[88],"structure.":[89],"Moreover,":[90],"unsynchronized":[92],"temporal":[93,112,126,152,187],"relationship":[94],"also":[96],"influence":[97,107,150],"extrinsic":[101,133,158,174],"accuracies.":[102],"To":[103],"reduce":[104],"negative":[106],"brought":[108],"misalignment,":[113],"we":[114],"propose":[115],"monocular":[117],"camera-aided":[118],"GNSS/SINS":[119],"integration":[120],"online":[123,143,220],"compensation,":[127],"where":[128],"time":[130],"delay":[131],"SINS":[135,147],"camera":[137],"estimated":[140],"compensated":[142],"together":[144],"state.":[148],"The":[149,167,207],"compensation":[153,188,222],"GNSS":[155,190],"information":[156],"on":[157],"accuracy":[159,175,209,228],"analyzed":[161,202],"Monte":[164,168],"Carlo":[165,169],"simulation.":[166],"simulation":[170],"demonstrates":[171],"that":[172,219],"improves":[176,210],"31.33%":[178],"70.00%":[180],"rotation":[182],"translation":[184],"adding":[186],"Additionally,":[192],"performance":[194],"proposed":[197],"two":[204],"real-world":[205],"experiments.":[206],"position":[208],"19.16%~31.04%":[212],"both":[214],"experiments,":[215],"reveals":[218],"spatial-temporal":[221],"significantly":[224],"improve":[225]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}