{"id":"https://openalex.org/W2945356051","doi":"https://doi.org/10.1109/tpami.2019.2909895","title":"Unsupervised Deep Visual-Inertial Odometry with Online Error Correction for RGB-D Imagery","display_name":"Unsupervised Deep Visual-Inertial Odometry with Online Error Correction for RGB-D Imagery","publication_year":2019,"publication_date":"2019-05-21","ids":{"openalex":"https://openalex.org/W2945356051","doi":"https://doi.org/10.1109/tpami.2019.2909895","mag":"2945356051","pmid":"https://pubmed.ncbi.nlm.nih.gov/30990417"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2019.2909895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tpami.2019.2909895","pdf_url":"https://ieeexplore.ieee.org/ielx7/34/9185119/08691513.pdf","source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/34/9185119/08691513.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046529553","display_name":"E. Jared Shamwell","orcid":"https://orcid.org/0000-0002-7991-6454"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"E. Jared Shamwell","raw_affiliation_strings":["US Army Research Laboratory, Adelphi, USA"],"raw_orcid":"https://orcid.org/0000-0002-7991-6454","affiliations":[{"raw_affiliation_string":"US Army Research Laboratory, Adelphi, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073480368","display_name":"Kyle Lindgren","orcid":"https://orcid.org/0000-0002-8216-074X"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Lindgren","raw_affiliation_strings":["BioRobotics Lab, University of Washington, Seattle, USA","US Army Research Laboratory, Adelphi, USA"],"raw_orcid":"https://orcid.org/0000-0002-8216-074X","affiliations":[{"raw_affiliation_string":"BioRobotics Lab, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"]},{"raw_affiliation_string":"US Army Research Laboratory, Adelphi, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112366606","display_name":"Sarah Leung","orcid":null},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sarah Leung","raw_affiliation_strings":["US Army Research Laboratory, Adelphi, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"US Army Research Laboratory, Adelphi, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112601078","display_name":"William D. Nothwang","orcid":null},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William D. Nothwang","raw_affiliation_strings":["US Army Research Laboratory, Adelphi, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"US Army Research Laboratory, Adelphi, USA","institution_ids":["https://openalex.org/I166416128"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5046529553"],"corresponding_institution_ids":["https://openalex.org/I166416128"],"apc_list":null,"apc_paid":null,"fwci":66.1707,"has_fulltext":true,"cited_by_count":82,"citation_normalized_percentile":{"value":0.99774575,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"42","issue":"10","first_page":"2478","last_page":"2493"},"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":0.9995999932289124,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9988999962806702,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8696547150611877},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.841217041015625},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7686609625816345},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7670507431030273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7348220348358154},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5252848863601685},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5250463485717773},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4358541667461395},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4155046343803406},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13958188891410828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10536515712738037}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8696547150611877},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.841217041015625},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7686609625816345},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7670507431030273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7348220348358154},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5252848863601685},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5250463485717773},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4358541667461395},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4155046343803406},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13958188891410828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10536515712738037}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2019.2909895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tpami.2019.2909895","pdf_url":"https://ieeexplore.ieee.org/ielx7/34/9185119/08691513.pdf","source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:30990417","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30990417","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null}],"best_oa_location":{"id":"doi:10.1109/tpami.2019.2909895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tpami.2019.2909895","pdf_url":"https://ieeexplore.ieee.org/ielx7/34/9185119/08691513.pdf","source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2945356051.pdf","grobid_xml":"https://content.openalex.org/works/W2945356051.grobid-xml"},"referenced_works_count":60,"referenced_works":["https://openalex.org/W603908379","https://openalex.org/W1513954757","https://openalex.org/W1612997784","https://openalex.org/W1639227073","https://openalex.org/W1938714998","https://openalex.org/W1970504153","https://openalex.org/W2047692640","https://openalex.org/W2056358962","https://openalex.org/W2069635875","https://openalex.org/W2091790851","https://openalex.org/W2108134361","https://openalex.org/W2115579991","https://openalex.org/W2118223742","https://openalex.org/W2128019145","https://openalex.org/W2132453268","https://openalex.org/W2144789976","https://openalex.org/W2151290401","https://openalex.org/W2155695215","https://openalex.org/W2166132830","https://openalex.org/W2168676389","https://openalex.org/W2292391751","https://openalex.org/W2296147781","https://openalex.org/W2300779272","https://openalex.org/W2335829695","https://openalex.org/W2348664362","https://openalex.org/W2396274919","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2559203616","https://openalex.org/W2604579016","https://openalex.org/W2609883120","https://openalex.org/W2615547864","https://openalex.org/W2738820790","https://openalex.org/W2738970069","https://openalex.org/W2754177129","https://openalex.org/W2772942222","https://openalex.org/W2773206443","https://openalex.org/W2795023265","https://openalex.org/W2797395780","https://openalex.org/W2801717995","https://openalex.org/W2883702102","https://openalex.org/W2887825894","https://openalex.org/W2895289727","https://openalex.org/W2952348863","https://openalex.org/W2962816904","https://openalex.org/W2962867206","https://openalex.org/W2962987986","https://openalex.org/W2963461686","https://openalex.org/W2963906250","https://openalex.org/W2964314455","https://openalex.org/W3098486636","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W4231985393","https://openalex.org/W4243425824","https://openalex.org/W6618372016","https://openalex.org/W6630722710","https://openalex.org/W6636959292","https://openalex.org/W6730329805","https://openalex.org/W6753105000"],"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":{"While":[0],"numerous":[1],"deep":[2,68],"approaches":[3,165,199],"to":[4,49,72,93,117,131,141],"the":[5,17,30,37,58,61,73,88,106,132,167,184],"problem":[6,39],"of":[7,60,75,134,144],"vision-aided":[8,52],"localization":[9,38,53,161,194],"have":[10],"been":[11],"recently":[12],"proposed,":[13],"systems":[14],"operating":[15],"in":[16,183],"real":[18],"world":[19],"will":[20],"undoubtedly":[21],"experience":[22],"novel":[23],"sensory":[24],"states":[25],"previously":[26],"unseen":[27],"even":[28],"under":[29],"most":[31],"prodigious":[32],"training":[33],"regimens.":[34],"We":[35,56,147,188],"address":[36],"with":[40,78,139],"online":[41,129],"error":[42],"correction":[43],"(OEC)":[44],"modules":[45,63],"that":[46,180],"are":[47,126],"trained":[48],"correct":[50],"a":[51,174],"network's":[54],"mistakes.":[55],"demonstrate":[57,189],"generalizability":[59],"OEC":[62],"and":[64,112,121,158,162],"describe":[65],"our":[66,149,201],"unsupervised":[67],"neural":[69],"network":[70,115,150],"approach":[71],"fusion":[74],"RGB-D":[76],"imagery":[77],"inertial":[79,99],"measurements":[80,120],"for":[81],"absolute":[82],"trajectory":[83],"estimation.":[84],"Our":[85],"network,":[86],"dubbed":[87],"Visual-Inertial-Odometry":[89],"Learner":[90],"(VIOLearner),":[91],"learns":[92,116],"perform":[94],"visual-inertial":[95],"odometry":[96,156],"(VIO)":[97],"without":[98],"measurement":[100],"unit":[101],"(IMU)":[102],"intrinsic":[103],"parameters":[104],"or":[105],"extrinsic":[107],"calibration":[108],"between":[109],"an":[110],"IMU":[111,119],"camera.":[113],"The":[114],"integrate":[118],"generate":[122],"hypothesis":[123],"trajectories":[124],"which":[125],"then":[127],"corrected":[128],"according":[130],"Jacobians":[133],"scaled":[135],"image":[136],"projection":[137],"errors":[138],"respect":[140],"spatial":[142],"grids":[143],"pixel":[145],"coordinates.":[146],"evaluate":[148],"against":[151,196],"state-of-the-art":[152],"(SoA)":[153],"VIO,":[154],"visual":[155,159],"(VO),":[157],"simultaneous":[160],"mapping":[163],"(VSLAM)":[164],"on":[166,200],"KITTI":[168],"Odometry":[169],"dataset":[170,179],"as":[171,173],"well":[172],"micro":[175],"aerial":[176],"vehicle":[177],"(MAV)":[178],"we":[181],"collected":[182],"AirSim":[185],"simulation":[186],"environment.":[187],"better":[190],"than":[191],"SoA":[192,198],"translational":[193],"performance":[195],"comparable":[197],"evaluation":[202],"sequences.":[203]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
