{"id":"https://openalex.org/W3204898179","doi":"https://doi.org/10.1145/3432248","title":"Semi-Direct Monocular Visual-Inertial Odometry Using Point and Line Features for IoV","display_name":"Semi-Direct Monocular Visual-Inertial Odometry Using Point and Line Features for IoV","publication_year":2021,"publication_date":"2021-09-28","ids":{"openalex":"https://openalex.org/W3204898179","doi":"https://doi.org/10.1145/3432248","mag":"3204898179"},"language":"en","primary_location":{"id":"doi:10.1145/3432248","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3432248","pdf_url":null,"source":{"id":"https://openalex.org/S97833917","display_name":"ACM Transactions on Internet Technology","issn_l":"1533-5399","issn":["1533-5399","1557-6051"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Internet Technology","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/A5008181744","display_name":"Nan Jiang","orcid":"https://orcid.org/0000-0003-1712-1872"},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Jiang","raw_affiliation_strings":["College of Information Engineering, East China Jiaotong University, Nanchang, China"],"raw_orcid":"https://orcid.org/0000-0003-1712-1872","affiliations":[{"raw_affiliation_string":"College of Information Engineering, East China Jiaotong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063271945","display_name":"De-Bin Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Debin Huang","raw_affiliation_strings":["College of Information Engineering, East China Jiaotong University, Nanchang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, East China Jiaotong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100394914","display_name":"Jing Chen","orcid":"https://orcid.org/0000-0002-7031-0229"},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Chen","raw_affiliation_strings":["College of Information Engineering, East China Jiaotong University, Nanchang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, East China Jiaotong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091166192","display_name":"Jie Wen","orcid":"https://orcid.org/0000-0002-4959-0692"},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Wen","raw_affiliation_strings":["College of Electrical and Automation Engineering, East China Jiaotong University, Nanchang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Automation Engineering, East China Jiaotong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100373176","display_name":"Heng Zhang","orcid":"https://orcid.org/0009-0009-6814-5904"},"institutions":[{"id":"https://openalex.org/I4210156189","display_name":"Shanghai Dianji University","ror":"https://ror.org/055fene14","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210156189"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heng Zhang","raw_affiliation_strings":["School of Electronic Information, Shanghai Dianji University, Ganlan, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Information, Shanghai Dianji University, Ganlan, Shanghai, China","institution_ids":["https://openalex.org/I4210156189"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005165463","display_name":"Honglong Chen","orcid":"https://orcid.org/0000-0003-0739-6338"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honglong Chen","raw_affiliation_strings":["College of Control Science and Engineering, China University of Petroleum, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, China University of Petroleum, Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.6084,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.97362727,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"22","issue":"1","first_page":"1","last_page":"23"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8557397127151489},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.774143636226654},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7119866013526917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6752697825431824},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6625634431838989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6609145998954773},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6179956793785095},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6074402928352356},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5284695029258728},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34983551502227783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3261997699737549},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12143632769584656}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8557397127151489},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.774143636226654},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7119866013526917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6752697825431824},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6625634431838989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6609145998954773},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6179956793785095},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6074402928352356},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5284695029258728},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34983551502227783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3261997699737549},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12143632769584656},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3432248","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3432248","pdf_url":null,"source":{"id":"https://openalex.org/S97833917","display_name":"ACM Transactions on Internet Technology","issn_l":"1533-5399","issn":["1533-5399","1557-6051"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Internet Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G1388996505","display_name":null,"funder_award_id":"62062034, 61663010, 61962022, and 61866012","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":38,"referenced_works":["https://openalex.org/W1608041808","https://openalex.org/W1612997784","https://openalex.org/W1969907290","https://openalex.org/W1981699551","https://openalex.org/W1996510988","https://openalex.org/W2018624971","https://openalex.org/W2021851106","https://openalex.org/W2029609303","https://openalex.org/W2054289217","https://openalex.org/W2091790851","https://openalex.org/W2093659073","https://openalex.org/W2115579991","https://openalex.org/W2151290401","https://openalex.org/W2160072137","https://openalex.org/W2185786809","https://openalex.org/W2257085284","https://openalex.org/W2316483928","https://openalex.org/W2396274919","https://openalex.org/W2411649036","https://openalex.org/W2482726005","https://openalex.org/W2538522345","https://openalex.org/W2564632156","https://openalex.org/W2606894526","https://openalex.org/W2738596250","https://openalex.org/W2745859992","https://openalex.org/W2774603347","https://openalex.org/W2792149140","https://openalex.org/W2793225041","https://openalex.org/W2796916234","https://openalex.org/W2901152875","https://openalex.org/W2945529733","https://openalex.org/W2962679300","https://openalex.org/W2963218091","https://openalex.org/W2963656298","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3125449081","https://openalex.org/W4376551357"],"related_works":["https://openalex.org/W2126722086","https://openalex.org/W3161199934","https://openalex.org/W2896474523","https://openalex.org/W2973104315","https://openalex.org/W2971051170","https://openalex.org/W2461754822","https://openalex.org/W4386899866","https://openalex.org/W4386597354","https://openalex.org/W2373641359","https://openalex.org/W2145974649"],"abstract_inverted_index":{"The":[0,215],"precise":[1,106],"measuring":[2],"of":[3,18,26,37,73,114,222,241],"vehicle":[4,107],"location":[5],"has":[6,251],"been":[7],"a":[8,89,115,166,252],"critical":[9],"task":[10],"in":[11,16,35,59,237],"enhancing":[12],"the":[13,60,69,129,133,211,220,230,238,242],"autonomous":[14,38,74],"driving":[15,75],"terms":[17],"intelligent":[19],"decision":[20],"making":[21],"and":[22,45,81,99,123,147,161,173,184,204,246],"safe":[23],"transportation.":[24],"Internet":[25],"Vehicles":[27],"(":[28,53,102,120,139],"IoV":[29,62],")":[30,55,104,122],"is":[31,56,65,150,153,227],"an":[32,199,205],"important":[33],"infrastructure":[34],"support":[36],"driving,":[39],"allowing":[40],"real-time":[41],"road":[42],"information":[43],"exchanging":[44],"sharing":[46],"for":[47,105],"localizing":[48],"vehicles.":[49],"Global":[50],"positioning":[51],"System":[52],"GPS":[54,64],"widely":[57],"used":[58],"traditional":[61],"system.":[63],"unable":[66],"to":[67,77,131,155,169],"meet":[68],"key":[70],"application":[71],"requirements":[72],"due":[76],"meter":[78],"level":[79],"error":[80],"signal":[82],"deterioration.":[83],"In":[84],"this":[85],"article,":[86],"we":[87,193],"propose":[88],"novel":[90],"solution,":[91],"named":[92],"Semi-Direct":[93],"Monocular":[94],"Visual-Inertial":[95,137],"Odometry":[96,138],"using":[97,126],"Point":[98],"Line":[100],"Features":[101],"SDMPL-VIO":[103,110,190,223,250],"localization.":[108],"Our":[109],"model":[111],"takes":[112],"advantage":[113],"low-cost":[116],"Inertial":[117],"Measurement":[118],"Unit":[119],"IMU":[121,185],"monocular":[124],"camera,":[125],"them":[127],"as":[128],"sensor":[130],"acquire":[132],"surrounding":[134],"environmental":[135],"information.":[136,186],"VIO":[140,232],"),":[141],"taking":[142],"into":[143],"account":[144],"both":[145,158,198],"point":[146],"line":[148],"features,":[149],"proposed,":[151],"which":[152],"able":[154],"deal":[156,170],"with":[157,171],"weak":[159,239],"texture":[160,240],"dynamic":[162],"environment.":[163],"We":[164],"use":[165],"semi-direct":[167],"method":[168],"keyframes":[172],"non-keyframes,":[174],"respectively.":[175,214],"Dual":[176],"sliding":[177],"window":[178],"mechanisms":[179],"can":[180],"effectively":[181],"fuse":[182],"point-line":[183],"To":[187],"evaluate":[188],"our":[189],"system":[191,233],"model,":[192],"conduct":[194],"extensive":[195],"experiments":[196],"on":[197],"indoor":[200],"dataset":[201,207],"(i.e.,":[202,208],"EuRoC)":[203],"outdoor":[206],"KITTI)":[209],"from":[210],"real-world":[212],"applications,":[213],"experimental":[216],"results":[217],"show":[218],"that":[219],"accuracy":[221],"proposed":[224],"by":[225],"us":[226],"better":[228],"than":[229],"mainstream":[231],"at":[234],"present.":[235],"Especially":[236],"datasets,":[243,245,249],"fast-moving":[244],"other":[247],"challenging":[248],"relatively":[253],"high":[254],"robustness.":[255]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
