{"id":"https://openalex.org/W2091790851","doi":"https://doi.org/10.1177/0278364914554813","title":"Keyframe-based visual\u2013inertial odometry using nonlinear optimization","display_name":"Keyframe-based visual\u2013inertial odometry using nonlinear optimization","publication_year":2014,"publication_date":"2014-12-15","ids":{"openalex":"https://openalex.org/W2091790851","doi":"https://doi.org/10.1177/0278364914554813","mag":"2091790851"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914554813","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914554813","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/A5006726091","display_name":"Stefan Leutenegger","orcid":"https://orcid.org/0000-0002-7998-3737"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["CH","GB"],"is_corresponding":false,"raw_author_name":"Stefan Leutenegger","raw_affiliation_strings":["Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland","Department of Computing, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Computing, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031067680","display_name":"Simon Lynen","orcid":"https://orcid.org/0000-0002-6421-541X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Simon Lynen","raw_affiliation_strings":["Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036408715","display_name":"Michael Bosse","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael Bosse","raw_affiliation_strings":["Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016331448","display_name":"Paul Furgale","orcid":"https://orcid.org/0000-0002-7367-1046"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Paul Furgale","raw_affiliation_strings":["Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1429.7288,"has_fulltext":false,"cited_by_count":1715,"citation_normalized_percentile":{"value":0.99999465,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"34","issue":"3","first_page":"314","last_page":"334"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9958999752998352,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7255690693855286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7217493057250977},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6680634021759033},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6633533835411072},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5625119209289551},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5488111972808838},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.5268957614898682},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5015597343444824},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48257914185523987},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4546920657157898},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.43409860134124756},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.43398427963256836},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.42673635482788086},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.4178963303565979},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.38770708441734314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27502286434173584},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23106682300567627},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08423960208892822}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7255690693855286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7217493057250977},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6680634021759033},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6633533835411072},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5625119209289551},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5488111972808838},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.5268957614898682},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5015597343444824},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48257914185523987},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4546920657157898},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.43409860134124756},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.43398427963256836},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.42673635482788086},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4178963303565979},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.38770708441734314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27502286434173584},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23106682300567627},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08423960208892822},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364914554813","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914554813","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:spiral.imperial.ac.uk:10044/1/23413","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/23413","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"334","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W116077224","https://openalex.org/W208713038","https://openalex.org/W590603423","https://openalex.org/W843488890","https://openalex.org/W956540729","https://openalex.org/W1521470386","https://openalex.org/W1570939900","https://openalex.org/W1872485792","https://openalex.org/W1968315983","https://openalex.org/W1973252838","https://openalex.org/W1974531087","https://openalex.org/W1974678436","https://openalex.org/W1976456943","https://openalex.org/W1987441863","https://openalex.org/W1990124658","https://openalex.org/W1990146136","https://openalex.org/W1991793962","https://openalex.org/W1998058414","https://openalex.org/W2006368361","https://openalex.org/W2024676408","https://openalex.org/W2024908906","https://openalex.org/W2025519812","https://openalex.org/W2026230478","https://openalex.org/W2035455072","https://openalex.org/W2040920255","https://openalex.org/W2049750053","https://openalex.org/W2055904838","https://openalex.org/W2066358118","https://openalex.org/W2072551631","https://openalex.org/W2072986918","https://openalex.org/W2082313107","https://openalex.org/W2099901716","https://openalex.org/W2110794641","https://openalex.org/W2111308925","https://openalex.org/W2113243634","https://openalex.org/W2118223742","https://openalex.org/W2120109662","https://openalex.org/W2127752689","https://openalex.org/W2130946545","https://openalex.org/W2135492382","https://openalex.org/W2140924050","https://openalex.org/W2141584146","https://openalex.org/W2142444065","https://openalex.org/W2147536420","https://openalex.org/W2150064935","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2152575911","https://openalex.org/W2158884168","https://openalex.org/W2164514556","https://openalex.org/W2166073629","https://openalex.org/W2167782359","https://openalex.org/W2172209411","https://openalex.org/W2296360731","https://openalex.org/W2625519344","https://openalex.org/W3149330788","https://openalex.org/W4230766380","https://openalex.org/W4246483956","https://openalex.org/W4248944231"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4312703710","https://openalex.org/W208888162"],"abstract_inverted_index":{"Combining":[0],"visual":[1,46],"and":[2,32,86,94,145,156,163],"inertial":[3,87,125],"measurements":[4,147],"has":[5,39],"become":[6],"popular":[7],"in":[8,45,58,115,212],"mobile":[9],"robotics,":[10],"since":[11],"the":[12,22,37,62,65,101,178],"two":[13],"sensing":[14],"modalities":[15],"offer":[16],"complementary":[17,132],"characteristics":[18],"that":[19,49,80,141],"make":[20],"them":[21],"ideal":[23],"choice":[24],"for":[25],"accurate":[26],"visual\u2013inertial":[27,139,198],"odometry":[28],"or":[29],"simultaneous":[30],"localization":[31],"mapping":[33],"(SLAM).":[34],"While":[35,200],"historically":[36],"problem":[38,90],"been":[40],"addressed":[41],"with":[42,135,148,162,170],"filtering,":[43],"advancements":[44],"estimation":[47,167],"suggest":[48],"nonlinear":[50],"optimization":[51,102],"offers":[52],"superior":[53,210],"accuracy,":[54],"while":[55,120],"still":[56,121],"tractable":[57,93],"complexity":[59],"thanks":[60],"to":[61,103,172,180],"sparsity":[63],"of":[64,84,107,152,159,183,214],"underlying":[66],"problem.":[67],"Taking":[68],"inspiration":[69],"from":[70],"these":[71],"findings,":[72],"we":[73,176,207],"formulate":[74],"a":[75,104,154,184],"rigorously":[76],"probabilistic":[77],"cost":[78],"function":[79],"combines":[81],"reprojection":[82],"errors":[83],"landmarks":[85],"terms.":[88,126],"The":[89],"is":[91,168],"kept":[92],"thus":[95],"ensuring":[96],"real-time":[97],"operation":[98],"by":[99,117,123],"limiting":[100],"bounded":[105],"window":[106],"keyframes":[108],"through":[109],"marginalization.":[110],"Keyframes":[111],"may":[112],"be":[113],"spaced":[114],"time":[116],"arbitrary":[118],"intervals,":[119],"related":[122],"linearized":[124],"We":[127],"present":[128],"evaluation":[129],"results":[130],"on":[131],"datasets":[133],"recorded":[134],"our":[136,160,201],"custom-built":[137],"stereo":[138,155],"hardware":[140],"accurately":[142],"synchronizes":[143],"accelerometer":[144],"gyroscope":[146],"imagery.":[149],"A":[150],"comparison":[151],"both":[153],"monocular":[157],"version":[158],"algorithm":[161],"without":[164],"online":[165],"extrinsics":[166],"shown":[169],"respect":[171],"ground":[173],"truth.":[174],"Furthermore,":[175],"compare":[177],"performance":[179,211],"an":[181],"implementation":[182,193],"state-of-the-art":[185],"stochastic":[186],"cloning":[187],"sliding-window":[188],"filter.":[189],"This":[190],"competitive":[191],"reference":[192],"performs":[194],"tightly":[195],"coupled":[196],"filtering-based":[197],"odometry.":[199],"approach":[202],"declaredly":[203],"demands":[204],"more":[205],"computation,":[206],"show":[208],"its":[209],"terms":[213],"accuracy.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":53},{"year":2025,"cited_by_count":127},{"year":2024,"cited_by_count":144},{"year":2023,"cited_by_count":177},{"year":2022,"cited_by_count":178},{"year":2021,"cited_by_count":219},{"year":2020,"cited_by_count":216},{"year":2019,"cited_by_count":228},{"year":2018,"cited_by_count":192},{"year":2017,"cited_by_count":129},{"year":2016,"cited_by_count":43},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}
