{"id":"https://openalex.org/W3045494390","doi":"https://doi.org/10.1109/tro.2021.3100156","title":"Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth","display_name":"Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth","publication_year":2021,"publication_date":"2021-08-19","ids":{"openalex":"https://openalex.org/W3045494390","doi":"https://doi.org/10.1109/tro.2021.3100156","mag":"3045494390"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3100156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3100156","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/2007.14097","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056353073","display_name":"Martin Brossard","orcid":"https://orcid.org/0000-0002-8320-6121"},"institutions":[{"id":"https://openalex.org/I190752583","display_name":"ParisTech","ror":"https://ror.org/05c2qg481","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583"]},{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Martin Brossard","raw_affiliation_strings":["MINES ParisTech, PSL Research University, Centre for Robotics, Paris, France","CAOR"],"raw_orcid":"https://orcid.org/0000-0002-8320-6121","affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL Research University, Centre for Robotics, Paris, France","institution_ids":["https://openalex.org/I2746051580","https://openalex.org/I190752583"]},{"raw_affiliation_string":"CAOR","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072919180","display_name":"Axel Barrau","orcid":"https://orcid.org/0000-0002-8957-8292"},"institutions":[{"id":"https://openalex.org/I190752583","display_name":"ParisTech","ror":"https://ror.org/05c2qg481","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583"]},{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I4210130984","display_name":"Safran Electronics (Canada)","ror":"https://ror.org/03vmatd47","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210130984"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"Axel Barrau","raw_affiliation_strings":["MINES ParisTech, PSL Research University, Centre for Robotics, Paris, France","SAFRAN Electronics & Defense"],"raw_orcid":"https://orcid.org/0000-0002-8957-8292","affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL Research University, Centre for Robotics, Paris, France","institution_ids":["https://openalex.org/I2746051580","https://openalex.org/I190752583"]},{"raw_affiliation_string":"SAFRAN Electronics & Defense","institution_ids":["https://openalex.org/I4210130984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061317833","display_name":"Paul Chauchat","orcid":"https://orcid.org/0000-0001-8123-5140"},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Paul Chauchat","raw_affiliation_strings":["Institut Sup&#x00E9;rieur De L&#x2019;a&#x00E9;ronautique Et De L&#x2019;espace, Toulouse, France","INSTITUT SUPERIEUR DE L'AERONAUTIQUE ET DE L'ESPACE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut Sup&#x00E9;rieur De L&#x2019;a&#x00E9;ronautique Et De L&#x2019;espace, Toulouse, France","institution_ids":[]},{"raw_affiliation_string":"INSTITUT SUPERIEUR DE L'AERONAUTIQUE ET DE L'ESPACE","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037120106","display_name":"Silv\u00e8re Bonnabel","orcid":"https://orcid.org/0000-0002-6001-7766"},"institutions":[{"id":"https://openalex.org/I190752583","display_name":"ParisTech","ror":"https://ror.org/05c2qg481","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583"]},{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I4210160668","display_name":"International Society of Exposure Science","ror":"https://ror.org/04f9wy197","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210160668"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Silvere Bonnabel","raw_affiliation_strings":["MINES ParisTech, PSL Research University, Centre for Robotics, Paris, France","ISEA"],"raw_orcid":"https://orcid.org/0000-0002-6001-7766","affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL Research University, Centre for Robotics, Paris, France","institution_ids":["https://openalex.org/I2746051580","https://openalex.org/I190752583"]},{"raw_affiliation_string":"ISEA","institution_ids":["https://openalex.org/I4210160668"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2995,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.94998629,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"38","issue":"2","first_page":"998","last_page":"1015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9993000030517578,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8162081837654114},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.609414279460907},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49067819118499756},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44059666991233826},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.43584221601486206},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.41961869597435},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3719799518585205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.352838933467865},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3477717638015747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2689362168312073},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2631422281265259},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13728836178779602}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8162081837654114},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.609414279460907},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49067819118499756},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44059666991233826},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.43584221601486206},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.41961869597435},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3719799518585205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.352838933467865},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3477717638015747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2689362168312073},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2631422281265259},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13728836178779602},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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":7,"locations":[{"id":"doi:10.1109/tro.2021.3100156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3100156","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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:2007.14097","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.14097","pdf_url":"https://arxiv.org/pdf/2007.14097","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":"mag:3045494390","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2007.14097","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:HAL:hal-02906941v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02906941","pdf_url":null,"source":{"id":"https://openalex.org/S4377196329","display_name":"HAL Portal Artxiker (Hindustan Aeronautics Limited (India))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210088939","host_organization_name":"Hindustan Aeronautics Limited (India)","host_organization_lineage":["https://openalex.org/I4210088939"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://hal.archives-ouvertes.fr/hal-02906941","raw_type":"info:eu-repo/semantics/preprint"},{"id":"pmh:oai:HAL:hal-02906941v2","is_oa":false,"landing_page_url":"https://hal.science/hal-02906941","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2020","raw_type":"info:eu-repo/semantics/preprint"},{"id":"pmh:oai:HAL:hal-03460485v1","is_oa":false,"landing_page_url":"https://unc.hal.science/hal-03460485","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2022, 38 (2), pp.998-1015. &#x27E8;10.1109/TRO.2021.3100156&#x27E9;","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.48550/arxiv.2007.14097","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2007.14097","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.14097","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.14097","pdf_url":"https://arxiv.org/pdf/2007.14097","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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3045494390.pdf","grobid_xml":"https://content.openalex.org/works/W3045494390.grobid-xml"},"referenced_works_count":63,"referenced_works":["https://openalex.org/W592904438","https://openalex.org/W1498041548","https://openalex.org/W1591848543","https://openalex.org/W1943808550","https://openalex.org/W1968315983","https://openalex.org/W1981699551","https://openalex.org/W1990012555","https://openalex.org/W2011772686","https://openalex.org/W2017489593","https://openalex.org/W2018655096","https://openalex.org/W2033819227","https://openalex.org/W2080486046","https://openalex.org/W2091790851","https://openalex.org/W2115579991","https://openalex.org/W2121272499","https://openalex.org/W2136621952","https://openalex.org/W2155653863","https://openalex.org/W2157357823","https://openalex.org/W2157907881","https://openalex.org/W2182229738","https://openalex.org/W2204930965","https://openalex.org/W2214788824","https://openalex.org/W2291672095","https://openalex.org/W2296360731","https://openalex.org/W2482726005","https://openalex.org/W2495681058","https://openalex.org/W2604425362","https://openalex.org/W2739241698","https://openalex.org/W2745007981","https://openalex.org/W2745859992","https://openalex.org/W2746245458","https://openalex.org/W2746349752","https://openalex.org/W2766235398","https://openalex.org/W2776443693","https://openalex.org/W2794127568","https://openalex.org/W2797589308","https://openalex.org/W2797843868","https://openalex.org/W2891275937","https://openalex.org/W2902093375","https://openalex.org/W2909157769","https://openalex.org/W2931843659","https://openalex.org/W2938818630","https://openalex.org/W2948103149","https://openalex.org/W2968618084","https://openalex.org/W2980385299","https://openalex.org/W2981924303","https://openalex.org/W2986242474","https://openalex.org/W3002270926","https://openalex.org/W3003487057","https://openalex.org/W3005456533","https://openalex.org/W3008196964","https://openalex.org/W3015812680","https://openalex.org/W3016307421","https://openalex.org/W3034942935","https://openalex.org/W3037129921","https://openalex.org/W3090078497","https://openalex.org/W3104529569","https://openalex.org/W3149330788","https://openalex.org/W4230766380","https://openalex.org/W4230909112","https://openalex.org/W4255235593","https://openalex.org/W6639325027","https://openalex.org/W6685664056"],"related_works":["https://openalex.org/W1943808550","https://openalex.org/W3086374554","https://openalex.org/W3185844903","https://openalex.org/W1158384775","https://openalex.org/W2281205210","https://openalex.org/W1969726450","https://openalex.org/W311505708","https://openalex.org/W2913934997","https://openalex.org/W2022507127","https://openalex.org/W2163012149","https://openalex.org/W2074182505","https://openalex.org/W2181249606","https://openalex.org/W2920832626","https://openalex.org/W2408109714","https://openalex.org/W1507914661","https://openalex.org/W570035013","https://openalex.org/W2997918075","https://openalex.org/W2970307344","https://openalex.org/W2738873657","https://openalex.org/W2409369896"],"abstract_inverted_index":{"The":[0,133],"recently":[1],"introduced":[2],"matrix":[3,14],"group":[4,42],"<inline-formula><tex-math":[5],"notation=\"LaTeX\">$\\mathbf":[6,11,56],"{SE_2(3)}$</tex-math></inline-formula>":[7],"provides":[8],"a":[9,29,45,97,122,146],"5<inline-formula><tex-math":[10,55],"{\\times":[12,57],"}$</tex-math></inline-formula>5":[13,58],"representation":[15],"for":[16,109,171],"the":[17,26,71,75,88,125],"orientation,":[18],"velocity,":[19],"and":[20,95,116,124,140,153],"position":[21],"of":[22,77,90],"an":[23,78],"object":[24],"in":[25,101],"3-D":[27],"space,":[28],"triplet":[30],"we":[31,38],"call":[32],"&#x201C;extended":[33],"pose.&#x201D;":[34],"In":[35,83],"this":[36,41,102],"article,":[37],"build":[39],"on":[40,93,155],"to":[43,47,65,129,142],"develop":[44],"theory":[46,89],"associate":[48],"uncertainty":[49,68],"with":[50],"extended":[51,72],"poses":[52],"represented":[53],"by":[54],"matrices.":[59],"Our":[60],"approach":[61,134],"is":[62,135],"particularly":[63],"suited":[64],"describe":[66],"how":[67,164],"propagates":[69],"when":[70],"pose":[73],"represents":[74],"state":[76],"inertial":[79],"measurement":[80],"unit":[81],"(IMU).":[82],"particular,":[84],"it":[85],"allows":[86],"revisiting":[87],"IMU":[91,152],"preintegration":[92,105],"manifold":[94],"reaching":[96],"further":[98],"theoretic":[99],"level":[100],"field.":[103],"Exact":[104],"formulas":[106],"that":[107,112],"account":[108],"rotating":[110,166],"earth,":[111],"is,":[113],"centrifugal":[114],"force":[115],"Coriolis":[117],"force,":[118],"are":[119,127],"derived":[120],"as":[121],"byproduct,":[123],"factors":[126],"shown":[128],"be":[130,169],"more":[131],"accurate.":[132],"validated":[136],"through":[137],"extensive":[138],"simulations":[139],"applied":[141],"sensor":[143],"fusion":[144],"where":[145],"loosely":[147],"coupled":[148],"fixed-lag":[149],"smoother":[150],"fuses":[151],"LiDAR":[154],"1-h-long":[156],"experiments":[157],"using":[158],"our":[159],"experimental":[160],"car.":[161],"It":[162],"shows":[163],"handling":[165],"earth":[167],"may":[168],"beneficial":[170],"long-term":[172],"navigation":[173],"within":[174],"incremental":[175],"smoothing":[176],"algorithms.":[177]},"counts_by_year":[{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}