{"id":"https://openalex.org/W3189526488","doi":"https://doi.org/10.1109/tro.2021.3094157","title":"VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach","display_name":"VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach","publication_year":2021,"publication_date":"2021-07-30","ids":{"openalex":"https://openalex.org/W3189526488","doi":"https://doi.org/10.1109/tro.2021.3094157","mag":"3189526488"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3094157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3094157","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":["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/A5084760653","display_name":"Thien\u2010Minh Nguyen","orcid":"https://orcid.org/0000-0003-1315-0967"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Thien-Minh Nguyen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045222213","display_name":"Muqing Cao","orcid":"https://orcid.org/0000-0002-5867-5049"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Muqing Cao","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026848789","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0003-1887-6342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022413479","display_name":"Yang Lyu","orcid":"https://orcid.org/0000-0002-0702-908X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yang Lyu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101978658","display_name":"Thien Hoang Nguyen","orcid":"https://orcid.org/0000-0003-1218-0910"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Thien Hoang Nguyen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5084760653"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":75.5755,"has_fulltext":false,"cited_by_count":100,"citation_normalized_percentile":{"value":0.9989559,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"38","issue":"2","first_page":"958","last_page":"977"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9984999895095825,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8452334403991699},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.7725943326950073},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.75327068567276},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.717300295829773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6771707534790039},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6032605171203613},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.581591784954071},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.568407416343689},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5442625880241394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4568006694316864},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.4421401023864746},{"id":"https://openalex.org/keywords/sliding-window-protocol","display_name":"Sliding window protocol","score":0.42885348200798035},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3615923821926117},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.29188185930252075},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24912762641906738},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09082984924316406}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8452334403991699},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.7725943326950073},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.75327068567276},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.717300295829773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6771707534790039},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6032605171203613},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.581591784954071},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.568407416343689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5442625880241394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4568006694316864},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.4421401023864746},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.42885348200798035},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3615923821926117},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.29188185930252075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24912762641906738},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09082984924316406},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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":1,"locations":[{"id":"doi:10.1109/tro.2021.3094157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3094157","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6399999856948853,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1521464635","https://openalex.org/W1599976967","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W1981455883","https://openalex.org/W2127752689","https://openalex.org/W2284951713","https://openalex.org/W2396274919","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2615547864","https://openalex.org/W2745859992","https://openalex.org/W2746245458","https://openalex.org/W2746349752","https://openalex.org/W2761222387","https://openalex.org/W2770939175","https://openalex.org/W2782491529","https://openalex.org/W2789410150","https://openalex.org/W2884280313","https://openalex.org/W2887564721","https://openalex.org/W2888422218","https://openalex.org/W2907462582","https://openalex.org/W2909157769","https://openalex.org/W2931843659","https://openalex.org/W2938818630","https://openalex.org/W2954300802","https://openalex.org/W2956791496","https://openalex.org/W2968704747","https://openalex.org/W2995105004","https://openalex.org/W2999783739","https://openalex.org/W3005057483","https://openalex.org/W3007245826","https://openalex.org/W3012268014","https://openalex.org/W3015238808","https://openalex.org/W3043971245","https://openalex.org/W3082687580","https://openalex.org/W3089723250","https://openalex.org/W3090955299","https://openalex.org/W3095174237","https://openalex.org/W3102327032","https://openalex.org/W3104529569","https://openalex.org/W3104793674","https://openalex.org/W3105567679","https://openalex.org/W3108971937","https://openalex.org/W3110514869","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3180277944","https://openalex.org/W3187574830","https://openalex.org/W3214208961","https://openalex.org/W4246614213","https://openalex.org/W4289145348","https://openalex.org/W6635827122","https://openalex.org/W6743254713","https://openalex.org/W6747958698","https://openalex.org/W6756279856","https://openalex.org/W6784344422"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2785359964"],"abstract_inverted_index":{"In":[0,127],"recent":[1],"years,":[2],"onboard":[3,121],"self-localization":[4],"(OSL)":[5],"methods":[6,41],"based":[7],"on":[8,200],"cameras":[9],"or":[10],"lidar":[11,124],"have":[12],"achieved":[13],"many":[14],"significant":[15],"progresses.":[16],"However,":[17],"some":[18,52],"issues":[19],"such":[20],"as":[21,68,75,77],"estimation":[22],"drift":[23,225],"and":[24,119,123,144,156,161,206],"robustness":[25],"in":[26,152,165,183,195],"low-texture":[27],"environment":[28],"still":[29],"remain":[30],"inherent":[31],"challenges":[32],"for":[33,93],"OSL":[34,157],"methods.":[35],"On":[36],"the":[37,49,94,153,166,178,181,189,192,224],"other":[38],"hand,":[39],"infrastructure-based":[40],"can":[42,221],"generally":[43],"overcome":[44],"these":[45,65,148],"issues,":[46],"but":[47],"at":[48],"expense":[50],"of":[51,60,97,109,138,180,191],"installation":[53,230],"cost.":[54],"This":[55],"poses":[56,149],"an":[57,98,106],"interesting":[58],"problem":[59],"how":[61],"to":[62,69,80,134,176],"effectively":[63,222],"combine":[64],"methods,":[66],"so":[67],"achieve":[70],"localization":[71,219],"with":[72],"long-term":[73],"consistency":[74],"well":[76],"flexibility":[78],"compared":[79],"any":[81],"single":[82],"method.":[83],"To":[84],"this":[85,184],"end,":[86],"we":[87],"propose":[88],"a":[89,129,136],"comprehensive":[90],"optimization-based":[91,172],"estimator":[92],"15-D":[95],"state":[96],"unmanned":[99],"aerial":[100],"vehicle":[101],"(UAV),":[102],"fusing":[103],"data":[104,208],"from":[105,209],"extensive":[107],"set":[108],"sensors:":[110],"inertial":[111],"measurement":[112],"unit":[113],"(IMU),":[114],"ultrawideband":[115],"(UWB)":[116],"ranging":[117],"sensors,":[118],"multiple":[120,196],"visual-inertial":[122],"odometry":[125],"subsystems.":[126],"essence,":[128],"sliding":[130,185],"window":[131],"is":[132,174],"used":[133],"formulate":[135],"sequence":[137],"robot":[139,182],"poses,":[140],"where":[141],"relative":[142],"rotational":[143],"translational":[145],"constraints":[146],"between":[147],"are":[150,163],"observed":[151],"IMU":[154],"preintegration":[155],"observations,":[158],"while":[159,227],"orientation":[160],"position":[162],"coupled":[164],"<i>body-offset</i>":[167],"UWB":[168],"range":[169],"observations.":[170],"An":[171],"approach":[173],"developed":[175],"estimate":[177],"trajectory":[179],"window.":[186],"We":[187],"evaluate":[188],"performance":[190],"proposed":[193],"scheme":[194],"scenarios,":[197],"including":[198],"experiments":[199],"public":[201],"datasets,":[202],"high-fidelity":[203],"graphical-physical":[204],"simulation,":[205],"field-collected":[207],"UAV":[210],"flight":[211],"tests.":[212],"The":[213],"result":[214],"demonstrates":[215],"that":[216],"our":[217],"integrated":[218],"method":[220],"resolve":[223],"issue,":[226],"incurring":[228],"minimal":[229],"requirements.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":30},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}