{"id":"https://openalex.org/W2055904838","doi":"https://doi.org/10.1177/0278364910388963","title":"Visual-inertial navigation, mapping and localization: A scalable real-time causal approach","display_name":"Visual-inertial navigation, mapping and localization: A scalable real-time causal approach","publication_year":2011,"publication_date":"2011-01-17","ids":{"openalex":"https://openalex.org/W2055904838","doi":"https://doi.org/10.1177/0278364910388963","mag":"2055904838"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910388963","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910388963","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5062880038","display_name":"Eagle Jones","orcid":null},"institutions":[{"id":"https://openalex.org/I75380228","display_name":"McKinsey & Company (United States)","ror":"https://ror.org/01gmv5d77","country_code":"US","type":"company","lineage":["https://openalex.org/I75380228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eagle S. Jones","raw_affiliation_strings":["McKinsey INC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"McKinsey INC, USA","institution_ids":["https://openalex.org/I75380228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038328783","display_name":"Stefano Soatto","orcid":"https://orcid.org/0000-0003-2902-6362"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Stefano Soatto","raw_affiliation_strings":["University of California, Los Angeles, CA, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles, CA, USA,","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5038328783"],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":807.7354,"has_fulltext":false,"cited_by_count":435,"citation_normalized_percentile":{"value":0.99997262,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"30","issue":"4","first_page":"407","last_page":"430"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9976999759674072,"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/initialization","display_name":"Initialization","score":0.6939266324043274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6261654496192932},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6167863607406616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5547555088996887},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.5039376616477966},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4595019817352295},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.45255768299102783},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.43345117568969727},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.41470810770988464},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.34142017364501953},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.30813392996788025},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1979466676712036},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14690282940864563}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6939266324043274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6261654496192932},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6167863607406616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5547555088996887},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.5039376616477966},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4595019817352295},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.45255768299102783},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.43345117568969727},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.41470810770988464},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.34142017364501953},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.30813392996788025},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1979466676712036},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14690282940864563},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364910388963","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910388963","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.174.8178","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.174.8178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.vision.cs.ucla.edu/papers/jonesS10IJRR.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":82,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W136616458","https://openalex.org/W1487267921","https://openalex.org/W1564897360","https://openalex.org/W1567142439","https://openalex.org/W1819747751","https://openalex.org/W1887006513","https://openalex.org/W1972407116","https://openalex.org/W1978394996","https://openalex.org/W1982452847","https://openalex.org/W1984190176","https://openalex.org/W2020934227","https://openalex.org/W2034043440","https://openalex.org/W2036622632","https://openalex.org/W2037618827","https://openalex.org/W2043642041","https://openalex.org/W2043732461","https://openalex.org/W2090281378","https://openalex.org/W2097012286","https://openalex.org/W2099867508","https://openalex.org/W2099901716","https://openalex.org/W2102344727","https://openalex.org/W2102434283","https://openalex.org/W2104849520","https://openalex.org/W2105224953","https://openalex.org/W2106598426","https://openalex.org/W2107796986","https://openalex.org/W2109366588","https://openalex.org/W2111535872","https://openalex.org/W2112020727","https://openalex.org/W2112262632","https://openalex.org/W2113243634","https://openalex.org/W2115601136","https://openalex.org/W2117383907","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2119792923","https://openalex.org/W2121013842","https://openalex.org/W2122512809","https://openalex.org/W2124321582","https://openalex.org/W2124535811","https://openalex.org/W2125240024","https://openalex.org/W2128017662","https://openalex.org/W2131846894","https://openalex.org/W2134285489","https://openalex.org/W2134446283","https://openalex.org/W2135988303","https://openalex.org/W2136297672","https://openalex.org/W2139362983","https://openalex.org/W2139834417","https://openalex.org/W2144573889","https://openalex.org/W2148227735","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152767074","https://openalex.org/W2153110463","https://openalex.org/W2158187199","https://openalex.org/W2161969291","https://openalex.org/W2162915993","https://openalex.org/W2166644671","https://openalex.org/W2168210109","https://openalex.org/W2170039322","https://openalex.org/W2171448996","https://openalex.org/W2183143033","https://openalex.org/W2187250581","https://openalex.org/W2192014968","https://openalex.org/W2216795730","https://openalex.org/W2582998992","https://openalex.org/W2600643276","https://openalex.org/W2623660146","https://openalex.org/W2798813531","https://openalex.org/W2802719384","https://openalex.org/W3108793894","https://openalex.org/W3194103514","https://openalex.org/W3217246742","https://openalex.org/W4206318793","https://openalex.org/W4236965008","https://openalex.org/W4240153047","https://openalex.org/W4298028584","https://openalex.org/W4298409085","https://openalex.org/W4301045096","https://openalex.org/W4365799809"],"related_works":["https://openalex.org/W2766932195","https://openalex.org/W2094872030","https://openalex.org/W2005661815","https://openalex.org/W2146757636","https://openalex.org/W2099272513","https://openalex.org/W2991205432","https://openalex.org/W2112002268","https://openalex.org/W2393324510","https://openalex.org/W3002248669","https://openalex.org/W2155346812"],"abstract_inverted_index":{"We":[0,13,51,85,116,135],"describe":[1,87,137],"a":[2,79,92,203,236],"model":[3,16],"to":[4,57,94,132,141,164,180,214],"estimate":[5,58,95],"motion":[6,74],"from":[7],"monocular":[8],"visual":[9,161],"and":[10,17,27,38,47,61,98,105,151,178],"inertial":[11,49],"measurements.":[12],"analyze":[14],"the":[15,19,34,39,43,48,73,96,145,152,156,165,171,176,181,189,212,228],"characterize":[18,83],"conditions":[20],"under":[21],"which":[22],"its":[23,28],"state":[24,60,97],"is":[25,55,76,144,231],"observable,":[26],"parameters":[29,62,99],"are":[30,193],"identifiable.":[31],"These":[32],"include":[33],"unknown":[35,40],"gravity":[36,104,172],"vector,":[37],"transformation":[41],"between":[42],"camera":[44],"coordinate":[45],"frame":[46],"unit.":[50],"show":[52],"that":[53,72,81,143],"it":[54],"possible":[56],"both":[59],"as":[63,225,227],"part":[64],"of":[65,91,100,119,129,147,155],"an":[66,88,113,138],"on-line":[67],"procedure,":[68],"but":[69],"only":[70],"provided":[71,169,183],"sequence":[75],"\u2018rich":[77],"enough\u2019,":[78],"condition":[80],"we":[82],"explicitly.":[84],"then":[86],"efficient":[89],"implementation":[90],"filter":[93],"this":[101],"model,":[102],"including":[103],"camera-to-inertial":[106],"calibration.":[107],"It":[108,159],"runs":[109],"in":[110,202,233,235],"real-time":[111],"on":[112,127],"embedded":[114,229],"platform.":[115],"report":[117],"experiments":[118],"continuous":[120],"operation,":[121],"without":[122,211],"failures,":[123],"re-initialization,":[124],"or":[125,218],"re-calibration,":[126],"paths":[128],"length":[130],"up":[131],"30":[133],"km.":[134],"also":[136],"integrated":[139],"approach":[140],"\u2018loop-closure\u2019,":[142],"recognition":[146],"previously":[148],"seen":[149],"locations":[150],"topological":[153,204],"re-adjustment":[154],"traveled":[157],"path.":[158],"represents":[160],"features":[162,192],"relative":[163,179],"global":[166],"orientation":[167],"reference":[168],"by":[170,175,184,198],"vector":[173],"estimated":[174],"filter,":[177],"scale":[182],"their":[185],"known":[186],"position":[187],"within":[188],"map;":[190],"these":[191],"organized":[194],"into":[195],"\u2018locations\u2019":[196],"defined":[197],"visibility":[199],"constraints,":[200],"represented":[201],"graph,":[205],"where":[206],"loop-closure":[207],"can":[208],"be":[209],"performed":[210],"need":[213],"re-compute":[215],"past":[216],"trajectories":[217],"perform":[219],"bundle":[220],"adjustment.":[221],"The":[222],"software":[223],"infrastructure":[224],"well":[226],"platform":[230],"described":[232],"detail":[234],"previous":[237],"technical":[238],"report.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":31},{"year":2020,"cited_by_count":42},{"year":2019,"cited_by_count":43},{"year":2018,"cited_by_count":38},{"year":2017,"cited_by_count":45},{"year":2016,"cited_by_count":30},{"year":2015,"cited_by_count":43},{"year":2014,"cited_by_count":29},{"year":2013,"cited_by_count":35},{"year":2012,"cited_by_count":26}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}