{"id":"https://openalex.org/W3005057483","doi":"https://doi.org/10.1142/s2301385020500119","title":"Loosely-Coupled Ultra-wideband-Aided Scale Correction for Monocular Visual Odometry","display_name":"Loosely-Coupled Ultra-wideband-Aided Scale Correction for Monocular Visual Odometry","publication_year":2020,"publication_date":"2020-02-04","ids":{"openalex":"https://openalex.org/W3005057483","doi":"https://doi.org/10.1142/s2301385020500119","mag":"3005057483"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385020500119","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385020500119","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","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/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 639798, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-1218-0910","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","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":false,"raw_author_name":"Thien-Minh Nguyen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, 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 639798, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, 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 639798, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":32.6303,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.99275772,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"08","issue":"02","first_page":"179","last_page":"190"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8378392457962036},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.8336281180381775},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.8267985582351685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6585626602172852},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6506669521331787},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6221201419830322},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5904552340507507},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5891310572624207},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4636121690273285},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.43729332089424133},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4315764904022217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27015969157218933},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24122503399848938},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.173850417137146},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14820373058319092}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8378392457962036},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8336281180381775},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8267985582351685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6585626602172852},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6506669521331787},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6221201419830322},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5904552340507507},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5891310572624207},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4636121690273285},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.43729332089424133},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4315764904022217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27015969157218933},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24122503399848938},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.173850417137146},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14820373058319092},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385020500119","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385020500119","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/12","score":0.5099999904632568,"display_name":"Responsible consumption and production"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2021851106","https://openalex.org/W2091790851","https://openalex.org/W2128019145","https://openalex.org/W2160146213","https://openalex.org/W2218842719","https://openalex.org/W2256578114","https://openalex.org/W2284951713","https://openalex.org/W2295488295","https://openalex.org/W2314596443","https://openalex.org/W2396274919","https://openalex.org/W2428801611","https://openalex.org/W2509590770","https://openalex.org/W2535547924","https://openalex.org/W2565741381","https://openalex.org/W2567328166","https://openalex.org/W2598706937","https://openalex.org/W2606794968","https://openalex.org/W2745859992","https://openalex.org/W2761222387","https://openalex.org/W2762248659","https://openalex.org/W2771926486","https://openalex.org/W2773623325","https://openalex.org/W2782339814","https://openalex.org/W2788056275","https://openalex.org/W2808542382","https://openalex.org/W2810688926","https://openalex.org/W2846905537","https://openalex.org/W2883702102","https://openalex.org/W2906780591","https://openalex.org/W2909492169","https://openalex.org/W2910508725","https://openalex.org/W2954300802","https://openalex.org/W2968147117","https://openalex.org/W2968704747","https://openalex.org/W3099436200","https://openalex.org/W3099629894","https://openalex.org/W3101038747","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3105567679","https://openalex.org/W3106440972","https://openalex.org/W4236769309"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,88],"propose":[4],"a":[5,30,61,115],"method":[6,44,65,133],"to":[7,47],"address":[8],"the":[9,92,95],"problem":[10],"of":[11,37,94,131],"scale":[12,21,24,105,127],"uncertainty":[13],"in":[14,68,124],"monocular":[15,53,81],"visual":[16],"odometry":[17,54],"(VO),":[18],"which":[19],"includes":[20],"ambiguity":[22],"and":[23,84,101,106,142],"drift,":[25],"using":[26],"distance":[27,58],"measurements":[28],"from":[29,52],"single":[31],"ultra-wideband":[32],"(UWB)":[33],"anchor.":[34],"A":[35],"variant":[36],"Levenberg\u2013Marquardt":[38],"(LM)":[39],"nonlinear":[40],"least":[41],"squares":[42],"regression":[43],"is":[45,66,112,134],"proposed":[46],"rectify":[48],"unscaled":[49],"position":[50,121],"data":[51],"with":[55,76,136],"1D":[56],"point-to-point":[57],"measurements.":[59],"As":[60],"loosely-coupled":[62],"approach,":[63],"our":[64,132],"flexible":[67],"that":[69,114],"each":[70],"input":[71],"block":[72],"can":[73,122],"be":[74],"replaced":[75],"one\u2019s":[77],"preferred":[78],"choices":[79],"for":[80,119],"odometry/SLAM":[82],"algorithm":[83],"UWB":[85,96],"sensor.":[86],"Furthermore,":[87],"do":[89],"not":[90],"require":[91],"location":[93,108],"anchor":[97,107,120],"as":[98],"prior":[99],"knowledge":[100],"will":[102],"estimate":[103],"both":[104,139],"simultaneously.":[109],"However,":[110],"it":[111],"noted":[113],"good":[116],"initial":[117],"guess":[118],"result":[123],"more":[125],"accurate":[126],"estimation.":[128],"The":[129],"performance":[130],"compared":[135],"state-of-the-art":[137],"on":[138],"public":[140],"datasets":[141],"real-life":[143],"experiments.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}