{"id":"https://openalex.org/W4321099286","doi":"https://doi.org/10.1177/09596518231154033","title":"An online temporal calibration method for nonlinear optimization-based stereo visual-inertial odometry","display_name":"An online temporal calibration method for nonlinear optimization-based stereo visual-inertial odometry","publication_year":2023,"publication_date":"2023-02-15","ids":{"openalex":"https://openalex.org/W4321099286","doi":"https://doi.org/10.1177/09596518231154033"},"language":"en","primary_location":{"id":"doi:10.1177/09596518231154033","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518231154033","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5007655298","display_name":"Ziyu Cao","orcid":"https://orcid.org/0000-0002-4831-0759"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziyu Cao","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-4831-0759","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101238909","display_name":"Yanze Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanze Zhu","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088671813","display_name":"Jianhua Yang","orcid":"https://orcid.org/0000-0003-2745-8524"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Yang","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007655298"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01988774,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"237","issue":"7","first_page":"1187","last_page":"1194"},"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":0.9994000196456909,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8387355208396912},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7819540500640869},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7800763249397278},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7165522575378418},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6906416416168213},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.6892914772033691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6699491739273071},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5153862237930298},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5102226734161377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4881175458431244},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.45830583572387695},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.445100337266922},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.42968642711639404},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.42851200699806213},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.42081528902053833},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.41864633560180664},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.41861963272094727},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.41457200050354004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24202921986579895},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1389843225479126}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8387355208396912},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7819540500640869},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7800763249397278},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7165522575378418},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6906416416168213},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.6892914772033691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6699491739273071},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5153862237930298},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5102226734161377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4881175458431244},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.45830583572387695},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.445100337266922},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.42968642711639404},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.42851200699806213},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.42081528902053833},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.41864633560180664},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.41861963272094727},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.41457200050354004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24202921986579895},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1389843225479126},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09596518231154033","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518231154033","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1481925518","https://openalex.org/W1979266466","https://openalex.org/W2091790851","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2538522345","https://openalex.org/W2600643276","https://openalex.org/W2745859992","https://openalex.org/W2750632489","https://openalex.org/W2792919579","https://openalex.org/W2885984081","https://openalex.org/W2967494572","https://openalex.org/W3043971245","https://openalex.org/W3124420883","https://openalex.org/W4376502360"],"related_works":["https://openalex.org/W2219787495","https://openalex.org/W321362102","https://openalex.org/W4205293662","https://openalex.org/W2114393071","https://openalex.org/W2117488557","https://openalex.org/W2147999262","https://openalex.org/W2102332292","https://openalex.org/W812480148","https://openalex.org/W2091611596","https://openalex.org/W2982016207"],"abstract_inverted_index":{"Mobile":[0],"robots":[1,87],"have":[2,62],"been":[3,63],"widely":[4],"used":[5],"in":[6,47,76,157],"geological":[7],"exploration,":[8],"accident":[9],"rescue,":[10],"and":[11,23,32,44,57,74,78,102,176,181,215],"other":[12],"fields.":[13],"As":[14],"the":[15,29,38,84,105,110,154,158,166,178,185,199,203,212],"core":[16],"technology":[17,46],"of":[18,41,86,109,141,169],"these":[19],"robots,":[20],"simultaneous":[21,42,72],"localization":[22,43,73],"mapping":[24,45,75],"is":[25,107],"responsible":[26],"for":[27,91,113,130],"estimating":[28],"robot\u2019s":[30],"position":[31],"building":[33],"a":[34,92,146],"scene":[35],"map.":[36],"With":[37],"rapid":[39],"development":[40],"multi-sensor":[48],"fusion,":[49],"many":[50],"visual-inertial":[51,66,134],"odometry":[52,67,135],"systems":[53],"based":[54,125],"on":[55,104,126,184],"camera":[56],"inertial":[58,103],"measurement":[59],"unit":[60],"fusion":[61],"proposed.":[64],"Although":[65],"has":[68],"advantages":[69],"over":[70],"visual":[71,101],"accuracy":[77,214],"robustness,":[79],"they":[80],"still":[81],"cannot":[82],"meet":[83],"requirements":[85],"to":[88,198],"work":[89],"stably":[90],"long":[93],"time.":[94],"The":[95,161],"time":[96,151],"misalignment":[97],"(time":[98],"offset)":[99],"between":[100],"timeline":[106],"one":[108],"main":[111],"reasons":[112],"that":[114,190],"problem.":[115],"Therefore,":[116],"this":[117],"article":[118],"proposes":[119],"an":[120],"online":[121],"temporal":[122,174,193],"calibration":[123,175,194,205],"method":[124,163,208],"nonlinear":[127],"optimization,":[128],"suitable":[129],"low-cost,":[131],"self-assembled":[132],"stereo":[133,142,159],"systems.":[136],"We":[137],"take":[138],"full":[139],"advantage":[140],"camera,":[143],"which":[144],"constructs":[145],"new":[147],"error":[148],"factor":[149],"concerning":[150],"offset":[152],"using":[153],"epipolar":[155],"constraint":[156],"camera.":[160],"proposed":[162],"could":[164],"reduce":[165],"negative":[167],"influence":[168],"features\u2019":[170],"velocity":[171],"errors":[172],"during":[173],"improve":[177,211],"system\u2019s":[179,213],"robustness":[180],"accuracy.":[182],"Experiments":[183],"EuRoC":[186],"data":[187],"set":[188],"show":[189],"our":[191],"method\u2019s":[192],"results":[195],"are":[196],"closer":[197],"actual":[200],"value":[201],"than":[202],"state-of-the-art":[204],"methods.":[206],"Our":[207],"can":[209],"significantly":[210],"robustness.":[216]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
