{"id":"https://openalex.org/W4401883955","doi":"https://doi.org/10.1177/02783649241245726","title":"Multi-visual-inertial system: Analysis, calibration, and estimation","display_name":"Multi-visual-inertial system: Analysis, calibration, and estimation","publication_year":2024,"publication_date":"2024-08-26","ids":{"openalex":"https://openalex.org/W4401883955","doi":"https://doi.org/10.1177/02783649241245726"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241245726","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241245726","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/A5101976414","display_name":"Yulin Yang","orcid":"https://orcid.org/0000-0002-9675-9147"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yulin Yang","raw_affiliation_strings":["Robot Perception and Navigation Group, University of Delaware, Newark, DE, USA"],"raw_orcid":"https://orcid.org/0000-0002-9675-9147","affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055849494","display_name":"Patrick Geneva","orcid":"https://orcid.org/0000-0002-2179-3447"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Geneva","raw_affiliation_strings":["Robot Perception and Navigation Group, University of Delaware, Newark, DE, USA"],"raw_orcid":"https://orcid.org/0000-0002-2179-3447","affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Robot Perception and Navigation Group, University of Delaware, Newark, DE, USA"],"raw_orcid":"https://orcid.org/0000-0001-9932-0685","affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101976414"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":14.0288,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98345583,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"43","issue":"13","first_page":"1995","last_page":"2026"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6378856897354126},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5854722261428833},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5433711409568787},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5349418520927429},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5305873155593872},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26664477586746216},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08953246474266052}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6378856897354126},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5854722261428833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5433711409568787},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5349418520927429},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5305873155593872},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26664477586746216},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08953246474266052},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241245726","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241245726","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308928","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1508638970","https://openalex.org/W1981699551","https://openalex.org/W1998058414","https://openalex.org/W2018663214","https://openalex.org/W2051349034","https://openalex.org/W2086325065","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2123871098","https://openalex.org/W2153054365","https://openalex.org/W2182229738","https://openalex.org/W2411412724","https://openalex.org/W2418849765","https://openalex.org/W2482726005","https://openalex.org/W2736926039","https://openalex.org/W2736960679","https://openalex.org/W2745007981","https://openalex.org/W2745859992","https://openalex.org/W2774406928","https://openalex.org/W2797395780","https://openalex.org/W2908571003","https://openalex.org/W2910261328","https://openalex.org/W2931843659","https://openalex.org/W2962987986","https://openalex.org/W2968125992","https://openalex.org/W2968398091","https://openalex.org/W2968489055","https://openalex.org/W2999816984","https://openalex.org/W3001698620","https://openalex.org/W3009366886","https://openalex.org/W3038883483","https://openalex.org/W3043971245","https://openalex.org/W3090078497","https://openalex.org/W3090781369","https://openalex.org/W3091667825","https://openalex.org/W3098486636","https://openalex.org/W3104529569","https://openalex.org/W3119007448","https://openalex.org/W3125449081","https://openalex.org/W3130800379","https://openalex.org/W3134432446","https://openalex.org/W3178090389","https://openalex.org/W3194145151","https://openalex.org/W3194260926","https://openalex.org/W3199417960","https://openalex.org/W3204973120","https://openalex.org/W3206254663","https://openalex.org/W4206790194","https://openalex.org/W4246614213","https://openalex.org/W4249582655","https://openalex.org/W4310011082","https://openalex.org/W4312278272","https://openalex.org/W4312287630","https://openalex.org/W4312592592","https://openalex.org/W4379620541"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0,177],"this":[1,71],"paper,":[2],"we":[3,73,144,188],"study":[4],"state":[5],"estimation":[6],"of":[7,22,44,65,129,142],"multi-visual-inertial":[8],"systems":[9],"(MVIS)":[10],"and":[11,30,53,115,133,160,173,186,196,230],"develop":[12,74],"sensor":[13,194],"fusion":[14],"algorithms":[15],"to":[16,93,108,125,179,202,223,236],"optimally":[17],"fuse":[18,94],"an":[19],"arbitrary":[20],"number":[21],"asynchronous":[23],"inertial":[24,82,113,131,156,175],"measurement":[25],"units":[26],"(IMUs)":[27],"or":[28],"gyroscopes":[29,98],"global":[31],"and/or":[32,97],"rolling":[33],"shutter":[34],"cameras.":[35],"We":[36,103,214],"are":[37,158],"especially":[38],"interested":[39],"in":[40],"the":[41,45,50,54,61,105,111,127,147,164,205,209,217,239],"full":[42],"calibration":[43,207,211,220],"associated":[46],"visual-inertial":[47],"sensors,":[48],"including":[49],"IMU/camera":[51],"intrinsics":[52],"IMU-IMU/camera":[55],"spatiotemporal":[56,117,171],"extrinsics":[57,172],"as":[58,60],"well":[59],"image":[62],"readout":[63],"time":[64],"rolling-shutter":[66],"cameras":[67],"(if":[68],"used).":[69],"To":[70],"end,":[72],"a":[75,100],"new":[76],"analytic":[77],"combined":[78],"IMU":[79,88],"integration":[80],"with":[81,227],"intrinsics\u2014termed":[83],"ACI":[84],"3":[85],"\u2014to":[86],"pre-integrate":[87],"measurements,":[89],"which":[90,232],"is":[91,221,233],"leveraged":[92],"auxiliary":[95,130,174],"IMUs":[96],"alongside":[99],"base":[101],"IMU.":[102],"model":[104],"multi-inertial":[106],"measurements":[107],"include":[109],"all":[110],"necessary":[112],"intrinsic":[114],"IMU-IMU":[116,122,170],"extrinsic":[118],"parameters,":[119],"while":[120],"leveraging":[121],"rigid-body":[123],"constraints":[124],"eliminate":[126],"necessity":[128],"poses":[132],"thus":[134],"reducing":[135],"computational":[136],"complexity.":[137],"By":[138],"performing":[139],"observability":[140],"analysis":[141,185],"MVIS,":[143],"prove":[145],"that":[146,182,216],"standard":[148],"four":[149],"unobservable":[150],"directions":[151],"remain\u2014no":[152],"matter":[153],"how":[154],"many":[155],"sensors":[157],"used,":[159],"also":[161],"identify,":[162],"for":[163,169],"first":[165],"time,":[166],"degenerate":[167],"motions":[168],"intrinsics.":[176],"addition":[178],"extensive":[180],"simulations":[181],"validate":[183],"our":[184,191],"algorithms,":[187],"have":[189],"built":[190],"own":[192],"MVIS":[193,219],"rig":[195],"collected":[197],"over":[198],"25":[199],"real-world":[200],"datasets":[201],"experimentally":[203],"verify":[204],"proposed":[206,218],"against":[208],"state-of-the-art":[210],"method":[212],"Kalibr.":[213],"show":[215],"able":[222],"achieve":[224],"competing":[225],"accuracy":[226],"improved":[228],"convergence":[229],"repeatability,":[231],"open":[234],"sourced":[235],"better":[237],"benefit":[238],"community.":[240]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-04T09:04:59.091469","created_date":"2025-10-10T00:00:00"}