{"id":"https://openalex.org/W1993041640","doi":"https://doi.org/10.1109/upinlbs.2014.7033731","title":"Gyroscope assisted scalable visual simultaneous localization and mapping","display_name":"Gyroscope assisted scalable visual simultaneous localization and mapping","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W1993041640","doi":"https://doi.org/10.1109/upinlbs.2014.7033731","mag":"1993041640"},"language":"en","primary_location":{"id":"doi:10.1109/upinlbs.2014.7033731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs.2014.7033731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","raw_type":"proceedings-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/A5050535279","display_name":"Benzun Pious Wisely Babu","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Benzun P. Wisely Babu","raw_affiliation_strings":["Worcester Polytechnic Institute, Worcester, MA","Worcester Polytechnic Institute, Worcester MA 01609"],"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester MA 01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000512826","display_name":"David Cyganski","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Cyganski","raw_affiliation_strings":["Worcester Polytechnic Institute, Worcester, MA","Worcester Polytechnic Institute, Worcester MA 01609"],"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester MA 01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009552956","display_name":"James Duckworth","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Duckworth","raw_affiliation_strings":["Worcester Polytechnic Institute, Worcester, MA","Worcester Polytechnic Institute, Worcester MA 01609"],"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester MA 01609","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050535279"],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":0.8098,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.79655976,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"24","issue":null,"first_page":"220","last_page":"227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/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/gyroscope","display_name":"Gyroscope","score":0.9284958839416504},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8325937390327454},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7866596579551697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7204489707946777},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7034993171691895},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5236125588417053},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4824953079223633},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4540260434150696},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.4202858805656433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17847269773483276},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12377357482910156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09388941526412964},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07614186406135559}],"concepts":[{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.9284958839416504},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8325937390327454},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7866596579551697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7204489707946777},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7034993171691895},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5236125588417053},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4824953079223633},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4540260434150696},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.4202858805656433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17847269773483276},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12377357482910156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09388941526412964},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07614186406135559},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/upinlbs.2014.7033731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs.2014.7033731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/6","display_name":"Clean water and sanitation"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W107596469","https://openalex.org/W1506204880","https://openalex.org/W1521470386","https://openalex.org/W1644054796","https://openalex.org/W1656165940","https://openalex.org/W1990124658","https://openalex.org/W2003315864","https://openalex.org/W2004387795","https://openalex.org/W2069635875","https://openalex.org/W2071158641","https://openalex.org/W2108134361","https://openalex.org/W2111589119","https://openalex.org/W2120883775","https://openalex.org/W2121013842","https://openalex.org/W2124313187","https://openalex.org/W2140278933","https://openalex.org/W2151290401","https://openalex.org/W2152575911","https://openalex.org/W2153054365","https://openalex.org/W2154280780","https://openalex.org/W2160753027","https://openalex.org/W2400503694","https://openalex.org/W2593020189","https://openalex.org/W3142146886","https://openalex.org/W6631059785"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"This":[0,138],"paper":[1],"describes":[2],"the":[3,60,103,131,149,166],"development":[4],"and":[5,16,57,86,98,107,118],"evaluation":[6],"of":[7,62,80,162,174],"an":[8,81,159],"indoor":[9,94,167],"localization":[10],"algorithm":[11,123,139],"using":[12,109],"Visual":[13,115],"Simultaneous":[14,116],"Localization":[15,117],"Mapping":[17,119],"(VSLAM)":[18],"aided":[19],"by":[20,71,102],"gyroscope":[21,64,99],"sensor":[22],"information.":[23,75],"Indoor":[24],"environments":[25],"pose":[26],"several":[27],"challenges":[28],"which":[29],"could":[30],"cause":[31],"a":[32,48,63,87,110,170],"vision":[33,49,150],"only":[34,50,151],"system":[35,51,78,104],"to":[36,39,142,148,157],"fail":[37],"due":[38],"tracking":[40],"errors.":[41],"Investigation":[42],"revealed":[43],"significant":[44],"feature":[45],"loss":[46],"in":[47,66,130,146,165],"when":[52],"traversing":[53],"plain":[54],"walls,":[55],"windows":[56],"staircases.":[58],"However,":[59],"addition":[61],"helps":[65],"handling":[67],"such":[68],"difficult":[69],"conditions":[70],"providing":[72],"additional":[73],"rotational":[74],"A":[76],"portable":[77],"consisting":[79],"Inertial":[82],"Measurement":[83],"Unit":[84],"(IMU)":[85],"stereo":[88],"camera":[89],"has":[90,124],"been":[91,125],"developed":[92],"for":[93,127],"mapping.":[95],"The":[96,122,153],"images":[97],"rates":[100],"acquired":[101],"are":[105],"stored":[106],"post-processed":[108],"new":[111],"Gyroscope":[112],"Assisted":[113],"Scalable":[114],"Algorithm":[120],"(GA-ScaViSLAM).":[121],"evaluated":[126],"data-sets":[128],"collected":[129],"Atwater":[132],"Kent":[133],"building,":[134],"Worcester":[135],"Polytechnic":[136],"Institute.":[137],"was":[140,155],"found":[141,156],"be":[143],"more":[144],"robust":[145],"comparison":[147],"system.":[152],"Ga-ScaViSLAM":[154],"have":[158],"error":[160],"(rms)":[161],"0.6":[163],"m":[164],"environment":[168],"over":[169],"total":[171],"path":[172],"length":[173],"77m.":[175]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
