{"id":"https://openalex.org/W7124177713","doi":"https://doi.org/10.1109/tro.2026.3653854","title":"A Rotation\u2013Translation Decoupled Solution for Visual\u2013Inertial Initialization and Online Spatial\u2013Temporal Calibration","display_name":"A Rotation\u2013Translation Decoupled Solution for Visual\u2013Inertial Initialization and Online Spatial\u2013Temporal Calibration","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7124177713","doi":"https://doi.org/10.1109/tro.2026.3653854"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2026.3653854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3653854","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/A5113779096","display_name":"Bopin Xu","orcid":"https://orcid.org/0009-0002-1854-2177"},"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"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Xu","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122999242","display_name":"Zewen Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zewen Xu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101118103","display_name":"Yijia He","orcid":null},"institutions":[{"id":"https://openalex.org/I2250865144","display_name":"TCL (China)","ror":"https://ror.org/04dzjva98","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250865144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijia He","raw_affiliation_strings":["TCL RayNeo, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"TCL RayNeo, Shenzhen, China","institution_ids":["https://openalex.org/I2250865144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066305904","display_name":"Zhanpeng Ouyang","orcid":null},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanpeng Ouyang","raw_affiliation_strings":["Shanghaitech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghaitech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hao Wei","orcid":"https://orcid.org/0000-0002-7708-0243"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wei","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100645165","display_name":"Yihong Wu","orcid":"https://orcid.org/0000-0003-3340-2535"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihong Wu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123042494","display_name":"Jiancheng Li","orcid":null},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiancheng Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061507436","display_name":"Hongdong Li","orcid":"https://orcid.org/0000-0002-5241-9722"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hongdong Li","raw_affiliation_strings":["Australian National University, Canberra, Australia"],"affiliations":[{"raw_affiliation_string":"Australian National University, Canberra, Australia","institution_ids":["https://openalex.org/I118347636"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5113779096"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10424593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"854","last_page":"873"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9254999756813049,"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":0.9254999756813049,"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":0.03759999945759773,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.010900000110268593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.896399974822998},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7925999760627747},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.7311000227928162},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.5555999875068665},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.513700008392334},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5012000203132629},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.46939998865127563},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4489000141620636}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.896399974822998},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7925999760627747},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.7311000227928162},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6776000261306763},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.5555999875068665},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.513700008392334},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5012000203132629},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.46939998865127563},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4489000141620636},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4336000084877014},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4097999930381775},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40459999442100525},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.36070001125335693},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31610000133514404},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C72319582","wikidata":"https://www.wikidata.org/wiki/Q584304","display_name":"Degenerate energy levels","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C3020402766","wikidata":"https://www.wikidata.org/wiki/Q104376712","display_name":"Prior information","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2026.3653854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3653854","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1493943598","https://openalex.org/W1499828956","https://openalex.org/W1969726450","https://openalex.org/W1970504153","https://openalex.org/W1976456943","https://openalex.org/W1990146136","https://openalex.org/W1991544872","https://openalex.org/W2027055074","https://openalex.org/W2033819227","https://openalex.org/W2051349034","https://openalex.org/W2054289217","https://openalex.org/W2056358962","https://openalex.org/W2069829158","https://openalex.org/W2072986918","https://openalex.org/W2077751272","https://openalex.org/W2109635530","https://openalex.org/W2128019145","https://openalex.org/W2130103520","https://openalex.org/W2135492382","https://openalex.org/W2147536420","https://openalex.org/W2314596443","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2745859992","https://openalex.org/W2773447888","https://openalex.org/W2887564721","https://openalex.org/W2890376682","https://openalex.org/W2903291755","https://openalex.org/W2908571003","https://openalex.org/W2910764107","https://openalex.org/W2968125992","https://openalex.org/W2997495511","https://openalex.org/W3007245826","https://openalex.org/W3043971245","https://openalex.org/W3091592533","https://openalex.org/W3091667825","https://openalex.org/W3126451697","https://openalex.org/W3154054510","https://openalex.org/W3174283523","https://openalex.org/W3179449812","https://openalex.org/W3195372408","https://openalex.org/W4221156536","https://openalex.org/W4225773456","https://openalex.org/W4230766380","https://openalex.org/W4312929349","https://openalex.org/W4312942933","https://openalex.org/W4379620541","https://openalex.org/W4386066483","https://openalex.org/W4392450307","https://openalex.org/W4413945814"],"related_works":[],"abstract_inverted_index":{"We":[0,109],"propose":[1],"a":[2],"novel":[3],"initialization":[4,28],"and":[5,17,24,43,72,139,151],"online":[6],"spatial-temporal":[7,47],"calibration":[8,48],"method":[9,58,145],"for":[10,120],"visual-inertial":[11],"odometry":[12],"(VIO),":[13],"which":[14],"decouples":[15],"rotation":[16],"translation":[18],"estimation":[19,66],"to":[20,63,85,114],"achieve":[21],"higher":[22],"accuracy":[23,33,150],"better":[25],"robustness.":[26],"Existing":[27],"methods":[29],"suffer":[30],"from":[31],"limited":[32],"or":[34],"robustness":[35,152],"(e.g.,":[36],"in":[37,92,149,165],"scenarios":[38],"with":[39,123],"small":[40],"translational":[41],"motion)":[42],"rarely":[44],"integrate":[45],"simultaneous":[46,65],"during":[49],"initialization,":[50],"despite":[51],"its":[52],"considerable":[53],"practical":[54,116,130],"value.":[55],"Our":[56],"proposed":[57],"leverages":[59],"rotation-translation":[60,93],"decoupling":[61,94],"constraints":[62,91],"enable":[64],"of":[67,132],"gyroscope":[68],"bias,":[69],"extrinsic":[70],"rotation,":[71],"camera-IMU":[73],"time":[74],"offset-even":[75],"under":[76,102],"pure":[77],"rotational":[78,90],"motion.":[79],"Moreover,":[80],"we":[81],"are":[82],"the":[83,98,128],"first":[84],"conduct":[86],"observability":[87],"analysis":[88],"on":[89,137],"methods,":[95],"experimentally":[96],"identifying":[97],"unobservable":[99],"state-space":[100],"directions":[101],"three":[103],"degenerate":[104],"motions":[105],"within":[106],"our":[107,121,144],"approach.":[108],"also":[110],"perform":[111],"extensive":[112],"experiments":[113,136,158],"delineate":[115],"parameter":[117],"solution":[118],"boundaries":[119],"method,":[122],"both":[124],"efforts":[125],"substantially":[126],"enhancing":[127],"overall":[129],"applicability":[131],"decoupling-based":[133],"methods.":[134],"Extensive":[135],"simulated":[138],"real-world":[140],"datasets":[141],"demonstrate":[142],"that":[143,160],"outperforms":[146],"state-of-the-art":[147],"approaches":[148],"while":[153],"maintaining":[154],"computational":[155],"efficiency.":[156],"Furthermore,":[157],"verify":[159],"it":[161],"significantly":[162],"improves":[163],"convergence":[164],"VIO":[166],"systems.":[167]},"counts_by_year":[],"updated_date":"2026-03-25T23:56:10.502304","created_date":"2026-01-15T00:00:00"}