{"id":"https://openalex.org/W2482726005","doi":"https://doi.org/10.1109/tro.2016.2597321","title":"On-Manifold Preintegration for Real-Time Visual--Inertial Odometry","display_name":"On-Manifold Preintegration for Real-Time Visual--Inertial Odometry","publication_year":2016,"publication_date":"2016-08-31","ids":{"openalex":"https://openalex.org/W2482726005","doi":"https://doi.org/10.1109/tro.2016.2597321","mag":"2482726005"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2016.2597321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2597321","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1512.02363","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050501384","display_name":"Christian F\u00f6rster","orcid":"https://orcid.org/0000-0001-7068-2084"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Christian Forster","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Dellaert","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5050501384"],"corresponding_institution_ids":["https://openalex.org/I202697423"],"apc_list":null,"apc_paid":null,"fwci":1452.331,"has_fulltext":false,"cited_by_count":1388,"citation_normalized_percentile":{"value":0.99998569,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"33","issue":"1","first_page":"1","last_page":"21"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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":0.9990000128746033,"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":0.7492200136184692},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5882484912872314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5762665271759033},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.543971598148346},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5416498780250549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5402978658676147},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48736244440078735},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.45758146047592163},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27516549825668335},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2378389537334442},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18660491704940796},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13639965653419495}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7492200136184692},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5882484912872314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5762665271759033},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.543971598148346},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5416498780250549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5402978658676147},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48736244440078735},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.45758146047592163},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27516549825668335},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2378389537334442},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18660491704940796},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13639965653419495},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/tro.2016.2597321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2597321","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1512.02363","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1512.02363","pdf_url":"https://arxiv.org/pdf/1512.02363","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"},{"id":"pmh:doi:10.5167/uzh-127900","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"},{"id":"pmh:oai:infoscience.epfl.ch:221508","is_oa":false,"landing_page_url":"http://infoscience.epfl.ch/record/221508","pdf_url":null,"source":{"id":"https://openalex.org/S4306400488","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:221508","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/129593","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"},{"id":"doi:10.5167/uzh-127900","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-127900","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1512.02363","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1512.02363","pdf_url":"https://arxiv.org/pdf/1512.02363","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/G412570473","display_name":null,"funder_award_id":"GEOW-2014-09160","funder_id":"https://openalex.org/F4320332299","funder_display_name":"National Institute of Food and Agriculture"},{"id":"https://openalex.org/G5922768025","display_name":null,"funder_award_id":"11115678","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306114","display_name":"U.S. Department of Agriculture","ror":"https://ror.org/01na82s61"},{"id":"https://openalex.org/F4320323874","display_name":"Universit\u00e4t Z\u00fcrich","ror":"https://ror.org/02crff812"},{"id":"https://openalex.org/F4320332299","display_name":"National Institute of Food and Agriculture","ror":"https://ror.org/05qx3fv49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":91,"referenced_works":["https://openalex.org/W50439157","https://openalex.org/W61199030","https://openalex.org/W568081588","https://openalex.org/W592904438","https://openalex.org/W956540729","https://openalex.org/W1487444668","https://openalex.org/W1493943598","https://openalex.org/W1521470386","https://openalex.org/W1531532259","https://openalex.org/W1559536185","https://openalex.org/W1562545286","https://openalex.org/W1564897360","https://openalex.org/W1570939900","https://openalex.org/W1582490225","https://openalex.org/W1872485792","https://openalex.org/W1923779967","https://openalex.org/W1963592164","https://openalex.org/W1968315983","https://openalex.org/W1970504153","https://openalex.org/W1981699551","https://openalex.org/W1991793962","https://openalex.org/W1998058414","https://openalex.org/W2006368361","https://openalex.org/W2011772686","https://openalex.org/W2016456873","https://openalex.org/W2017489593","https://openalex.org/W2017587562","https://openalex.org/W2024676408","https://openalex.org/W2026230478","https://openalex.org/W2032144264","https://openalex.org/W2033819227","https://openalex.org/W2040490326","https://openalex.org/W2054289217","https://openalex.org/W2055904838","https://openalex.org/W2056298239","https://openalex.org/W2061176333","https://openalex.org/W2064169939","https://openalex.org/W2076489398","https://openalex.org/W2077751272","https://openalex.org/W2080486046","https://openalex.org/W2091790851","https://openalex.org/W2098956671","https://openalex.org/W2101938294","https://openalex.org/W2104849520","https://openalex.org/W2107105904","https://openalex.org/W2110357983","https://openalex.org/W2110662303","https://openalex.org/W2118223742","https://openalex.org/W2120109662","https://openalex.org/W2134837751","https://openalex.org/W2135492382","https://openalex.org/W2137052305","https://openalex.org/W2137813581","https://openalex.org/W2141868126","https://openalex.org/W2150064935","https://openalex.org/W2150066425","https://openalex.org/W2151249889","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2155653863","https://openalex.org/W2156529323","https://openalex.org/W2157357823","https://openalex.org/W2157907881","https://openalex.org/W2164514556","https://openalex.org/W2168771200","https://openalex.org/W2172209411","https://openalex.org/W2182229738","https://openalex.org/W2214788824","https://openalex.org/W2216550548","https://openalex.org/W2274359774","https://openalex.org/W2396359319","https://openalex.org/W2476569465","https://openalex.org/W2746245458","https://openalex.org/W2806706999","https://openalex.org/W3146325346","https://openalex.org/W3149330788","https://openalex.org/W3217246742","https://openalex.org/W4230766380","https://openalex.org/W4246483956","https://openalex.org/W4246614213","https://openalex.org/W4298563212","https://openalex.org/W4301245543","https://openalex.org/W4301621763","https://openalex.org/W6602427270","https://openalex.org/W6625110384","https://openalex.org/W6633383846","https://openalex.org/W6639325027","https://openalex.org/W6640156344","https://openalex.org/W6677871018","https://openalex.org/W6685664056","https://openalex.org/W6999010945"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Current":[0],"approaches":[1],"for":[2,114,131,184],"visual-inertial":[3,161],"odometry":[4],"(VIO)":[5],"are":[6],"able":[7],"to":[8,46,146,221],"attain":[9],"highly":[10],"accurate":[11,223],"state":[12,119,224],"estimation":[13,225],"via":[14],"nonlinear":[15],"optimization.":[16,57],"However,":[17],"real-time":[18],"optimization":[19,133],"quickly":[20],"becomes":[21],"infeasible":[22],"as":[23,101,103],"the":[24,35,47,51,56,87,91,97,104,107,112,115,125,132,149,164,172,178,191,196],"trajectory":[25],"grows":[26],"over":[27,190],"time;":[28],"this":[29,59,63],"problem":[30],"is":[31,80,145],"further":[32,194],"emphasized":[33],"by":[34,65],"fact":[36],"that":[37,84,148,216],"inertial":[38,67,151],"measurements":[39,68],"come":[40],"at":[41],"high":[42],"rate,":[43],"hence,":[44],"leading":[45],"fast":[48],"growth":[49],"of":[50,53,90,106,127,167,174,180,203],"number":[52],"variables":[54],"in":[55,139,226],"In":[58],"paper,":[60],"we":[61],"address":[62],"issue":[64],"preintegrating":[66],"between":[69],"selected":[70],"keyframes":[71],"into":[72,159],"single":[73],"relative":[74],"motion":[75],"constraints.":[76],"Our":[77,121],"first":[78],"contribution":[79,144],"a":[81,117,135,160,181],"preintegration":[82],"theory":[83],"properly":[85],"addresses":[86],"manifold":[88],"structure":[89],"rotation":[92,108],"group.":[93],"We":[94,198],"formally":[95],"discuss":[96],"generative":[98],"measurement":[99,152],"model":[100,154,183],"well":[102],"nature":[105],"noise":[109],"and":[110,134,177,210],"derive":[111],"expression":[113],"maximum":[116],"posteriori":[118,136],"estimator.":[120],"theoretical":[122],"development":[123],"enables":[124,171],"computation":[126],"all":[128],"necessary":[129],"Jacobians":[130],"bias":[137],"correction":[138],"analytic":[140],"form.":[141],"The":[142,213],"second":[143],"show":[147],"preintegrated":[150],"unit":[153],"can":[155],"be":[156],"seamlessly":[157],"integrated":[158],"pipeline":[162,207],"under":[163],"unifying":[165],"framework":[166],"factor":[168],"graphs.":[169],"This":[170],"application":[173],"incremental-smoothing":[175],"algorithms":[176],"use":[179],"structureless":[182],"visual":[185],"measurements,":[186],"which":[187],"avoids":[188],"optimizing":[189],"3-D":[192],"points,":[193],"accelerating":[195],"computation.":[197],"perform":[199],"an":[200,222],"extensive":[201],"evaluation":[202],"our":[204,217],"monocular":[205],"VIO":[206],"on":[208],"real":[209,227],"simulated":[211],"datasets.":[212],"results":[214],"confirm":[215],"modeling":[218],"effort":[219],"leads":[220],"time,":[228],"outperforming":[229],"state-of-the-art":[230],"approaches.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":26},{"year":2025,"cited_by_count":175},{"year":2024,"cited_by_count":231},{"year":2023,"cited_by_count":196},{"year":2022,"cited_by_count":178},{"year":2021,"cited_by_count":182},{"year":2020,"cited_by_count":138},{"year":2019,"cited_by_count":136},{"year":2018,"cited_by_count":89},{"year":2017,"cited_by_count":33},{"year":2016,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
