{"id":"https://openalex.org/W1891389460","doi":"https://doi.org/10.23919/ecc.2013.6669273","title":"Metric visual-inertial navigation system using single optical flow feature","display_name":"Metric visual-inertial navigation system using single optical flow feature","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1891389460","doi":"https://doi.org/10.23919/ecc.2013.6669273","mag":"1891389460"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2013.6669273","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01302198","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037725766","display_name":"Sammy Omari","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":"Sammy Omari","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland","Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077439037","display_name":"Guillaume Ducard","orcid":"https://orcid.org/0000-0002-7400-4915"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210106479","display_name":"Laboratoire d'Informatique, Signaux et Syst\u00e8mes de Sophia Antipolis","ror":"https://ror.org/01215r597","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I4210106479","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guillaume Ducard","raw_affiliation_strings":["I3S UNS-CNRS, France","I3S, UNS, Sophia-Antipolis, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"I3S UNS-CNRS, France","institution_ids":["https://openalex.org/I1294671590"]},{"raw_affiliation_string":"I3S, UNS, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I4210106479"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":146.9405,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.9989496,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1310","last_page":"1316"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9984999895095825,"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/observability","display_name":"Observability","score":0.8127434253692627},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6822634935379028},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6760133504867554},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6615394353866577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6561960577964783},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6323646306991577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5962421298027039},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.5833412408828735},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5642499327659607},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5299162864685059},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5262015461921692},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5170577168464661},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.48113954067230225},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.47543883323669434},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.43010014295578003},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4017331898212433},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35143083333969116},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.261923223733902},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16022944450378418},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07870343327522278}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8127434253692627},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6822634935379028},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6760133504867554},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6615394353866577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6561960577964783},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6323646306991577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5962421298027039},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.5833412408828735},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5642499327659607},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5299162864685059},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5262015461921692},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5170577168464661},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.48113954067230225},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.47543883323669434},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.43010014295578003},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4017331898212433},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35143083333969116},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.261923223733902},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16022944450378418},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07870343327522278},{"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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc.2013.6669273","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01302198v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01302198","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE European Control Conference (ECC), IEEE, Jul 2013, Zurich, Switzerland. &#x27E8;10.23919/ECC.2013.6669273&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01302198v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01302198","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE European Control Conference (ECC), IEEE, Jul 2013, Zurich, Switzerland. &#x27E8;10.23919/ECC.2013.6669273&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W843488890","https://openalex.org/W1578285471","https://openalex.org/W1965520883","https://openalex.org/W1980982306","https://openalex.org/W2006501475","https://openalex.org/W2026891225","https://openalex.org/W2043424691","https://openalex.org/W2047682254","https://openalex.org/W2049750053","https://openalex.org/W2054289217","https://openalex.org/W2088402393","https://openalex.org/W2089929220","https://openalex.org/W2098836126","https://openalex.org/W2102344727","https://openalex.org/W2118877769","https://openalex.org/W2123487311","https://openalex.org/W2132453268","https://openalex.org/W2138286408","https://openalex.org/W2140924050","https://openalex.org/W2140998418","https://openalex.org/W2143425822","https://openalex.org/W2157907881","https://openalex.org/W2168414614","https://openalex.org/W2296360731","https://openalex.org/W2300819758","https://openalex.org/W2751023760","https://openalex.org/W3145547920","https://openalex.org/W4241459016"],"related_works":["https://openalex.org/W2387696481","https://openalex.org/W2062158686","https://openalex.org/W2388366184","https://openalex.org/W1590923801","https://openalex.org/W3121466181","https://openalex.org/W2766759697","https://openalex.org/W2156308897","https://openalex.org/W1982606137","https://openalex.org/W3021956972","https://openalex.org/W2129639887"],"abstract_inverted_index":{"This":[0],"paper":[1,156],"introduces":[2],"a":[3,27,34,57,72,103,171],"state":[4,138,149],"estimation":[5,81,163],"framework":[6,82],"that":[7,50,136],"allows":[8],"estimating":[9],"the":[10,16,51,63,98,118,121,127,130,137,152,159,162,165,183],"attitude,":[11],"full":[12],"metric":[13,18,168],"speed":[14],"and":[15,43,74,85,167],"orthogonal":[17],"distance":[19,169],"of":[20,62,97,120,129,146,164],"an":[21,89],"IMU-camera":[22],"system":[23],"with":[24,173],"respect":[25],"to":[26,69,170],"plane.":[28,59],"The":[29,46,60,80,94],"filter":[30,122],"relies":[31],"only":[32,184],"on":[33,56,108,179],"single":[35],"optical":[36,180],"flow":[37,181],"feature":[38,54],"as":[39,41,123,125,182],"well":[40,124],"gyroscope":[42],"accelerometer":[44],"measurements.":[45],"underlying":[47],"assumption":[48],"is":[49,66,75,134,140],"observed":[52,64],"visual":[53,84],"lies":[55],"static":[58],"orientation":[61],"plane":[65],"not":[67],"required":[68],"be":[70],"known":[71],"priori":[73],"also":[76],"estimated":[77],"at":[78],"runtime.":[79],"fuses":[83],"inertial":[86],"measurements":[87],"in":[88,144],"Unscented":[90],"Kalman":[91],"Filter":[92],"(UKF).":[93],"theoretical":[95],"limitations":[96],"UKF":[99],"are":[100],"investigated":[101],"using":[102,111],"nonlinear":[104],"observability":[105,131],"analysis":[106],"based":[107],"Lie-derivatives.":[109],"Simulations":[110],"realistic":[112],"sensor":[113],"noise":[114],"values":[115],"successfully":[116],"demonstrate":[117],"performance":[119],"validate":[126],"findings":[128],"analysis.":[132],"It":[133],"shown":[135],"estimate":[139],"converging":[141],"correctly,":[142],"even":[143],"presence":[145],"substantial":[147],"initial":[148],"errors.":[150],"To":[151],"authors'":[153],"knowledge,":[154],"this":[155],"documents":[157],"for":[158],"first":[160],"time":[161],"heading":[166],"wall":[172],"no":[174],"range":[175],"sensor,":[176],"relying":[177],"solely":[178],"exteroceptive":[185],"sensing":[186],"modality.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2016-06-24T00:00:00"}
