{"id":"https://openalex.org/W4404914838","doi":"https://doi.org/10.1109/tim.2024.3509582","title":"Quaternion-Based Unscented Kalman Filter for 6-DoF Vision-Based Inertial Navigation in GPS-Denied Regions","display_name":"Quaternion-Based Unscented Kalman Filter for 6-DoF Vision-Based Inertial Navigation in GPS-Denied Regions","publication_year":2024,"publication_date":"2024-12-02","ids":{"openalex":"https://openalex.org/W4404914838","doi":"https://doi.org/10.1109/tim.2024.3509582"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3509582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3509582","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2412.02768","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114957067","display_name":"Khashayar Ghanizadegan","orcid":null},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Khashayar Ghanizadegan","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009644655","display_name":"Hashim A. Hashim","orcid":"https://orcid.org/0000-0003-2376-0603"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hashim A. Hashim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5114957067"],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":null,"apc_paid":null,"fwci":15.3557,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9859375,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9957000017166138,"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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9951000213623047,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7884053587913513},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.768039345741272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7095724940299988},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.639807939529419},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6075263023376465},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.583746612071991},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5502878427505493},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5481335520744324},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.547657310962677},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.49349701404571533},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.481803834438324},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4701666533946991},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.34563007950782776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19302242994308472},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08152684569358826}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7884053587913513},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.768039345741272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7095724940299988},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.639807939529419},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6075263023376465},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.583746612071991},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5502878427505493},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5481335520744324},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.547657310962677},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.49349701404571533},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.481803834438324},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4701666533946991},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.34563007950782776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19302242994308472},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08152684569358826},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tim.2024.3509582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3509582","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"},{"id":"pmh:oai:arXiv.org:2412.02768","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.02768","pdf_url":"https://arxiv.org/pdf/2412.02768","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2412.02768","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.02768","pdf_url":"https://arxiv.org/pdf/2412.02768","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1597412403","display_name":null,"funder_award_id":"RGPIN-","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G1870997588","display_name":null,"funder_award_id":"RGPIN-2022-04937","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G2165548363","display_name":null,"funder_award_id":"Canada","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G2277364899","display_name":null,"funder_award_id":"DGECR-2022-00103","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G5536939483","display_name":null,"funder_award_id":"DGECR-","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G6221715925","display_name":null,"funder_award_id":"RGPIN","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G8105784103","display_name":null,"funder_award_id":"RGPIN-202","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G8284766523","display_name":null,"funder_award_id":"(NSERC)","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4404914838.pdf"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1581808154","https://openalex.org/W1964907620","https://openalex.org/W1977934833","https://openalex.org/W2000146415","https://openalex.org/W2020934227","https://openalex.org/W2023208826","https://openalex.org/W2033819227","https://openalex.org/W2040920255","https://openalex.org/W2083624955","https://openalex.org/W2113425768","https://openalex.org/W2118223742","https://openalex.org/W2126254787","https://openalex.org/W2130103520","https://openalex.org/W2134236847","https://openalex.org/W2157379615","https://openalex.org/W2164638305","https://openalex.org/W2396274919","https://openalex.org/W2895264376","https://openalex.org/W2941605400","https://openalex.org/W2962987986","https://openalex.org/W2968489055","https://openalex.org/W2997077301","https://openalex.org/W3014130312","https://openalex.org/W3128802769","https://openalex.org/W3183984127","https://openalex.org/W3193701173","https://openalex.org/W3199515608","https://openalex.org/W4205319636","https://openalex.org/W4205337131","https://openalex.org/W4213187553","https://openalex.org/W4246449400","https://openalex.org/W4293146093","https://openalex.org/W4295916776","https://openalex.org/W4307091871","https://openalex.org/W4312206880","https://openalex.org/W4312912092","https://openalex.org/W4313291162","https://openalex.org/W4362714343","https://openalex.org/W4385486105","https://openalex.org/W4386228616","https://openalex.org/W4390817324","https://openalex.org/W6767169957"],"related_works":["https://openalex.org/W3127350447","https://openalex.org/W3108700312","https://openalex.org/W2156842304","https://openalex.org/W2128405419","https://openalex.org/W2385234200","https://openalex.org/W2394248547","https://openalex.org/W4313886815","https://openalex.org/W2038183074","https://openalex.org/W2785359964","https://openalex.org/W2773722138"],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"the":[3,34,50,76,83,119,132,139,168],"orientation,":[4],"position,":[5],"and":[6,55,97,125,136,158,163],"linear":[7],"velocity":[8,124],"estimation":[9],"problem":[10],"of":[11,33,86,138,160],"a":[12,90,101,148,153],"rigid-body":[13],"moving":[14],"in":[15,75,115,156],"3-D":[16,116,157],"space":[17],"with":[18,129],"six":[19],"degrees-of-freedom":[20],"(6-DoF).":[21],"The":[22,70,107],"highly":[23],"nonlinear":[24,52],"navigation":[25,35,41,53,59],"kinematics":[26,54],"are":[27,109],"formulated":[28],"to":[29,48,62,79,111,131],"ensure":[30],"global":[31],"representation":[32],"problem.":[36],"A":[37],"computationally":[38],"efficient":[39],"quaternion-based":[40],"unscented":[42],"Kalman":[43],"filter":[44],"(QNUKF)":[45],"is":[46,73,171],"proposed":[47,71,140,169],"imitate":[49],"true":[51],"utilize":[56],"onboard":[57],"visual-inertial":[58],"(VIN)":[60],"units":[61],"achieve":[63],"successful":[64],"Global":[65],"Positioning":[66],"System":[67],"(GPS)-denied":[68],"navigation.":[69],"QNUKF":[72,141],"designed":[74],"discrete":[77],"form":[78],"operate":[80],"based":[81],"on":[82,147],"data":[84],"fusion":[85],"photographs":[87,108],"garnered":[88],"by":[89,100,152],"vision":[91],"unit":[92,105],"(stereo":[93],"or":[94],"monocular":[95],"camera)":[96],"information":[98],"collected":[99,151],"low-cost":[102],"inertial":[103],"measurement":[104],"(IMU).":[106],"processed":[110],"extract":[112],"feature":[113],"points":[114],"space,":[117],"while":[118],"six-axis":[120,164],"IMU":[121,165],"supplies":[122],"angular":[123],"accelerometer":[126],"measurements":[127],"expressed":[128],"respect":[130],"body":[133],"frame.":[134],"Robustness":[135],"effectiveness":[137],"have":[142],"been":[143],"confirmed":[144],"through":[145],"experiments":[146],"real-world":[149],"dataset":[150],"drone":[154],"navigating":[155],"consisting":[159],"stereo":[161],"images":[162],"measurements.":[166],"Also,":[167],"approach":[170],"validated":[172],"against":[173],"state-of-the-art":[174],"filtering":[175],"techniques.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
