{"id":"https://openalex.org/W4405850958","doi":"https://doi.org/10.1142/s2301385025420051","title":"UMS-VINS: Unified Monocular-Stereo Features for Visual-Inertial Tightly Coupled Odometry in Degenerated Scenarios","display_name":"UMS-VINS: Unified Monocular-Stereo Features for Visual-Inertial Tightly Coupled Odometry in Degenerated Scenarios","publication_year":2024,"publication_date":"2024-12-27","ids":{"openalex":"https://openalex.org/W4405850958","doi":"https://doi.org/10.1142/s2301385025420051"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385025420051","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025420051","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/A5075033951","display_name":"Chaoyang Jiang","orcid":"https://orcid.org/0000-0002-8669-2911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210117825","display_name":"Beijing Research Institute of Mechanical and Electrical Technology","ror":"https://ror.org/02bjnsn63","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210117825"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chaoyang Jiang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0002-8669-2911","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210117825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023486892","display_name":"Xiaoni Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210117825","display_name":"Beijing Research Institute of Mechanical and Electrical Technology","ror":"https://ror.org/02bjnsn63","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210117825"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoni Zheng","raw_affiliation_strings":["Beijing Mechanical Equipment Institute, Beijing 100143, P.\u00a0R.\u00a0China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0002-3664-7426","affiliations":[{"raw_affiliation_string":"Beijing Mechanical Equipment Institute, Beijing 100143, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I4210117825"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210117825"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kang Wang","orcid":"https://orcid.org/0009-0004-4511-632X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210117825","display_name":"Beijing Research Institute of Mechanical and Electrical Technology","ror":"https://ror.org/02bjnsn63","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210117825"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Wang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0009-0004-4511-632X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210117825"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhe Jin","orcid":"https://orcid.org/0009-0004-4040-3442"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210117825","display_name":"Beijing Research Institute of Mechanical and Electrical Technology","ror":"https://ror.org/02bjnsn63","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210117825"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Jin","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0009-0004-4040-3442","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210117825"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101017028","display_name":"Chengpu Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengpu Yu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0002-3466-2876","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5075033951"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210117825"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24154993,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"06","first_page":"1623","last_page":"1637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10427","display_name":"Visual perception and processing mechanisms","score":0.9578999876976013,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10427","display_name":"Visual perception and processing mechanisms","score":0.9578999876976013,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9556999802589417,"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/visual-odometry","display_name":"Visual odometry","score":0.7238671779632568},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7048407196998596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6733829975128174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6376356482505798},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5856038928031921},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4739439785480499},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44672805070877075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1934392750263214},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1814679503440857}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7238671779632568},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7048407196998596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6733829975128174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6376356482505798},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5856038928031921},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4739439785480499},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44672805070877075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1934392750263214},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1814679503440857},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385025420051","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025420051","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":[],"awards":[{"id":"https://openalex.org/G3283955804","display_name":null,"funder_award_id":"U20A20333","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1969726450","https://openalex.org/W1989484209","https://openalex.org/W2069295011","https://openalex.org/W2091790851","https://openalex.org/W2117228865","https://openalex.org/W2276677361","https://openalex.org/W2314596443","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2400621881","https://openalex.org/W2474281075","https://openalex.org/W2538522345","https://openalex.org/W2745859992","https://openalex.org/W2773447888","https://openalex.org/W2962987986","https://openalex.org/W2998059200","https://openalex.org/W3007245826","https://openalex.org/W3091592533","https://openalex.org/W3104285145","https://openalex.org/W3126851256","https://openalex.org/W3179449812","https://openalex.org/W4285265093"],"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":{"This":[0],"paper":[1],"proposes":[2],"a":[3,26,34,38,83],"Unified":[4],"Monocular-Stereo":[5],"Visual-Inertial":[6],"State":[7],"Estimator":[8],"(UMS-VINS)":[9],"that":[10],"combines":[11],"monocular,":[12],"stereo":[13,35,95],"vision,":[14],"and":[15,37,69,75,106,120,133],"inertial":[16,40,103],"measurements":[17],"for":[18],"vehicle":[19],"localization":[20,129,131],"in":[21,126],"degenerated":[22],"scenarios.":[23],"UMS-VINS":[24,63],"is":[25,89],"tightly":[27],"coupled":[28],"visual-inertial":[29,86],"odometry":[30,97],"(VIO),":[31],"which":[32,109],"requires":[33],"camera":[36],"low-cost":[39],"measurement":[41],"unit":[42],"(IMU).":[43],"On":[44,79],"the":[45,55,66,73,80,102],"one":[46],"hand,":[47,82],"we":[48],"introduce":[49],"additional":[50],"two-dimensional":[51],"sub-pixel":[52],"features":[53],"from":[54],"left":[56],"and/or":[57],"right":[58],"cameras.":[59],"With":[60],"monocular-stereo":[61],"features,":[62],"can":[64,110],"improve":[65],"positioning":[67],"accuracy":[68],"robustness":[70],"by":[71],"enhancing":[72],"quality":[74],"quantity":[76],"of":[77,128],"features.":[78],"other":[81],"mode":[84],"selection-based":[85],"initialization":[87,107],"strategy":[88],"designed":[90],"to":[91,101],"dynamically":[92],"choose":[93],"between":[94],"visual":[96],"or":[98],"VIO":[99],"according":[100],"motion":[104],"state":[105],"status,":[108],"guarantee":[111],"successful":[112],"initialization.":[113],"The":[114],"performance":[115],"on":[116],"both":[117],"new":[118],"real-world":[119],"public":[121],"datasets":[122],"demonstrates":[123],"its":[124],"effectiveness":[125],"terms":[127],"accuracy,":[130],"robustness,":[132],"environmental":[134],"adaptability.":[135]},"counts_by_year":[],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}
