{"id":"https://openalex.org/W4406657343","doi":"https://doi.org/10.1109/tro.2025.3532506","title":"iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems","display_name":"iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406657343","doi":"https://doi.org/10.1109/tro.2025.3532506"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3532506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3532506","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/A5030312036","display_name":"Shuolong Chen","orcid":"https://orcid.org/0000-0002-5283-9057"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuolong Chen","raw_affiliation_strings":["School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661812","display_name":"Xingxing Li","orcid":"https://orcid.org/0000-0002-6351-9702"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingxing Li","raw_affiliation_strings":["School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053326378","display_name":"Shengyu Li","orcid":"https://orcid.org/0000-0003-4014-2524"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyu Li","raw_affiliation_strings":["School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018496820","display_name":"Yuxuan Zhou","orcid":"https://orcid.org/0000-0002-5261-0009"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Zhou","raw_affiliation_strings":["School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114626234","display_name":"Xiaoteng Yang","orcid":"https://orcid.org/0009-0008-7961-8749"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoteng Yang","raw_affiliation_strings":["School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics (SGG), Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030312036"],"corresponding_institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210105990"],"apc_list":null,"apc_paid":null,"fwci":75.6477,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.99882235,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"41","issue":null,"first_page":"1618","last_page":"1638"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9945999979972839,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9945999979972839,"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/T13487","display_name":"Statistical and numerical algorithms","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/2604","display_name":"Applied Mathematics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9745000004768372,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/calibration","display_name":"Calibration","score":0.6551552414894104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5690897107124329},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5249221920967102},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4794448912143707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38342756032943726},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3630741834640503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26459288597106934},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13643917441368103}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6551552414894104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5690897107124329},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5249221920967102},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4794448912143707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38342756032943726},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3630741834640503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26459288597106934},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13643917441368103},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3532506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3532506","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":[],"awards":[{"id":"https://openalex.org/G6043543121","display_name":null,"funder_award_id":"423B240","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1594443017","https://openalex.org/W1998058414","https://openalex.org/W2021503353","https://openalex.org/W2069829158","https://openalex.org/W2077751272","https://openalex.org/W2100893637","https://openalex.org/W2125188427","https://openalex.org/W2140924050","https://openalex.org/W2151103935","https://openalex.org/W2167667767","https://openalex.org/W2204930965","https://openalex.org/W2295255295","https://openalex.org/W2296228853","https://openalex.org/W2325922889","https://openalex.org/W2336425583","https://openalex.org/W2342437324","https://openalex.org/W2418849765","https://openalex.org/W2471962767","https://openalex.org/W2745859992","https://openalex.org/W2767370873","https://openalex.org/W2803993251","https://openalex.org/W2887564721","https://openalex.org/W2896245033","https://openalex.org/W2907665615","https://openalex.org/W2908571003","https://openalex.org/W2912735128","https://openalex.org/W2984771701","https://openalex.org/W2990449593","https://openalex.org/W2991853568","https://openalex.org/W3038883483","https://openalex.org/W3043971245","https://openalex.org/W3047616003","https://openalex.org/W3090925395","https://openalex.org/W3091667825","https://openalex.org/W3108683416","https://openalex.org/W3119007448","https://openalex.org/W3129245057","https://openalex.org/W3130081760","https://openalex.org/W3132323429","https://openalex.org/W3134432446","https://openalex.org/W3143550294","https://openalex.org/W3159136954","https://openalex.org/W3171843835","https://openalex.org/W3194260926","https://openalex.org/W3199184510","https://openalex.org/W3201211375","https://openalex.org/W3205362814","https://openalex.org/W3211563383","https://openalex.org/W4200571818","https://openalex.org/W4206169080","https://openalex.org/W4206790194","https://openalex.org/W4210423514","https://openalex.org/W4212839470","https://openalex.org/W4221156536","https://openalex.org/W4226322873","https://openalex.org/W4229445880","https://openalex.org/W4250490592","https://openalex.org/W4312265650","https://openalex.org/W4312571988","https://openalex.org/W4312592592","https://openalex.org/W4313010044","https://openalex.org/W4319837668","https://openalex.org/W4320803121","https://openalex.org/W4321194448","https://openalex.org/W4365506100","https://openalex.org/W4367663114","https://openalex.org/W4390044759","https://openalex.org/W4391991514","https://openalex.org/W4396853084","https://openalex.org/W4400680575","https://openalex.org/W4404576800","https://openalex.org/W6677548441","https://openalex.org/W6861303104"],"related_works":["https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W2024124515","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W23037264","https://openalex.org/W2374423985","https://openalex.org/W4406028913","https://openalex.org/W2942773919","https://openalex.org/W2977244052"],"abstract_inverted_index":{"The":[0,166,220],"integrated":[1,101,133],"inertial":[2,102,134],"system,":[3],"typically":[4],"integrating":[5],"an":[6,9],"IMU":[7],"and":[8,17,20,26,45,50,67,74,110,118,141,145,164,173,211],"exteroceptive":[10],"sensor,":[11],"such":[12,71],"as":[13],"radar,":[14,162],"light":[15],"detection":[16],"ranging":[18],"(LiDAR),":[19],"camera,":[21],"has":[22],"been":[23],"widely":[24],"accepted":[25],"applied":[27],"in":[28,155,180],"modern":[29],"robotic":[30],"applications":[31],"for":[32,86,131],"ego-motion":[33],"estimation,":[34],"motion":[35],"control,":[36],"or":[37],"autonomous":[38],"exploration.":[39],"To":[40],"improve":[41],"system":[42,60],"accuracy,":[43],"robustness,":[44],"further":[46],"usability,":[47,119],"both":[48,143],"multiple":[49],"various":[51],"sensors":[52,152],"are":[53,96,153,192],"generally":[54,97],"resiliently":[55],"integrated,":[56],"which":[57,136],"benefits":[58],"the":[59,138,181,196,209,213],"performance":[61,215],"regarding":[62],"failure":[63],"tolerance,":[64],"perception":[65],"capability,":[66],"environment":[68],"compatibility.":[69],"For":[70],"systems,":[72,103,135],"accurate":[73,144,229],"consistent":[75,146],"spatiotemporal":[76,84,128,231],"calibration":[77,93,129,214],"is":[78],"required":[79],"to":[80,99,194,207],"maintain":[81],"a":[82,125,171],"unique":[83],"framework":[85,130],"multisensor":[87],"fusion.":[88],"Considering":[89],"that":[90,223],"most":[91],"existing":[92],"methods":[94],"first,":[95],"oriented":[98],"specific":[100],"second,":[104],"often":[105],"focus":[106],"on":[107],"spatial-only":[108],"determination,":[109],"third,":[111],"usually":[112],"require":[113],"artificial":[114],"targets,":[115],"lacking":[116],"convenience":[117],"we":[120],"propose":[121],"<italic":[122,156,217,224],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[123,157,218,225],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">iKalibr:</i>":[124],"unified":[126],"targetless":[127],"resilient":[132,230],"overcomes":[137],"above":[139],"issues,":[140],"enables":[142],"calibration.":[147,232],"Altogether":[148],"four":[149],"commonly":[150],"employed":[151],"supported":[154],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">iKalibr</i>":[158,226],"currently,":[159],"namely,":[160],"IMU,":[161],"LiDAR,":[163],"camera.":[165],"proposed":[167],"method":[168],"starts":[169],"with":[170],"rigorous":[172],"efficient":[174],"dynamic":[175],"initialization,":[176],"where":[177],"all":[178],"parameters":[179,198],"estimator":[182],"would":[183],"be":[184],"accurately":[185],"recovered.":[186],"Subsequently,":[187],"several":[188],"continuous-time":[189],"batch":[190],"optimizations":[191],"conducted":[193,206],"refine":[195],"initialized":[197],"toward":[199],"better":[200],"states.":[201],"Sufficient":[202],"real-world":[203],"experiments":[204],"were":[205],"verify":[208],"feasibility":[210],"evaluate":[212],"of":[216],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">iKalibr</i>.":[219],"results":[221],"demonstrate":[222],"can":[227],"achieve":[228]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
