{"id":"https://openalex.org/W3177192739","doi":"https://doi.org/10.3390/data6070072","title":"BROAD\u2014A Benchmark for Robust Inertial Orientation Estimation","display_name":"BROAD\u2014A Benchmark for Robust Inertial Orientation Estimation","publication_year":2021,"publication_date":"2021-06-27","ids":{"openalex":"https://openalex.org/W3177192739","doi":"https://doi.org/10.3390/data6070072","mag":"3177192739"},"language":"en","primary_location":{"id":"doi:10.3390/data6070072","is_oa":true,"landing_page_url":"https://doi.org/10.3390/data6070072","pdf_url":"https://www.mdpi.com/2306-5729/6/7/72/pdf?version=1624937799","source":{"id":"https://openalex.org/S4210226510","display_name":"Data","issn_l":"2306-5729","issn":["2306-5729"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Data","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2306-5729/6/7/72/pdf?version=1624937799","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069412080","display_name":"Daniel Laidig","orcid":"https://orcid.org/0000-0003-2928-2446"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel Laidig","raw_affiliation_strings":["Control Systems Group, Technische Universit\u00e4t Berlin, 10623 Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Control Systems Group, Technische Universit\u00e4t Berlin, 10623 Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044125406","display_name":"Marco Caruso","orcid":"https://orcid.org/0000-0002-1529-8095"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Caruso","raw_affiliation_strings":["Department of Electronics and Telecommunications, Politecnico di Torino, 10129 Torino, Italy","Polito<sup>BIO</sup>Med Lab\u2014Biomedical Engineering Lab, Politecnico di Torino, 10129 Torino, Italy","PolitoBIOMed Lab\u2014Biomedical Engineering Lab, Politecnico di Torino, 10129 Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Telecommunications, Politecnico di Torino, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"Polito<sup>BIO</sup>Med Lab\u2014Biomedical Engineering Lab, Politecnico di Torino, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"PolitoBIOMed Lab\u2014Biomedical Engineering Lab, Politecnico di Torino, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001250171","display_name":"Andrea Cereatti","orcid":"https://orcid.org/0000-0002-7276-5382"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Cereatti","raw_affiliation_strings":["Department of Electronics and Telecommunications, Politecnico di Torino, 10129 Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Telecommunications, Politecnico di Torino, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039578386","display_name":"Thomas Seel","orcid":"https://orcid.org/0000-0002-6920-1690"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Seel","raw_affiliation_strings":["Department Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, 91052 Erlangen, Germany"],"affiliations":[{"raw_affiliation_string":"Department Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, 91052 Erlangen, Germany","institution_ids":["https://openalex.org/I181369854"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069412080"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1352,"currency":"EUR","value_usd":1458},"fwci":33.9152,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.99454469,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"6","issue":"7","first_page":"72","last_page":"72"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","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/T11325","display_name":"Inertial Sensor and Navigation","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":0.9991000294685364,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9951000213623047,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8500728607177734},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.837890625},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7271764278411865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.714414656162262},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7116844058036804},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.6937927007675171},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.6319257616996765},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.564888596534729},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5390573740005493},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.5008349418640137},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.49148380756378174},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.48426932096481323},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.44872963428497314},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4388265311717987},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19998809695243835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1315494179725647},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1267145574092865},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08036914467811584},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.07417181134223938}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8500728607177734},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.837890625},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7271764278411865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.714414656162262},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7116844058036804},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.6937927007675171},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.6319257616996765},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.564888596534729},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5390573740005493},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.5008349418640137},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.49148380756378174},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.48426932096481323},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.44872963428497314},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4388265311717987},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19998809695243835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1315494179725647},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1267145574092865},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08036914467811584},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.07417181134223938},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/data6070072","is_oa":true,"landing_page_url":"https://doi.org/10.3390/data6070072","pdf_url":"https://www.mdpi.com/2306-5729/6/7/72/pdf?version=1624937799","source":{"id":"https://openalex.org/S4210226510","display_name":"Data","issn_l":"2306-5729","issn":["2306-5729"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Data","raw_type":"journal-article"},{"id":"pmh:oai:ub.uni-erlangen.de-opus:16864","is_oa":true,"landing_page_url":"https://opus4.kobv.de/opus4-fau/files/16864/data-06-00072-v2.pdf","pdf_url":"https://nbn-resolving.org/urn:nbn:de:bvb:29-opus4-168646","source":{"id":"https://openalex.org/S4306401636","display_name":"OPUS Repository (Kooperativer Bibliotheksverbund Berlin-Brandenburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:RePEc:gam:jdataj:v:6:y:2021:i:7:p:72-:d:583410","is_oa":false,"landing_page_url":"https://www.mdpi.com/2306-5729/6/7/72/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:11cffd32e8fa42a2bd323cc365e76c92","is_oa":true,"landing_page_url":"https://doaj.org/article/11cffd32e8fa42a2bd323cc365e76c92","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Data, Vol 6, Iss 7, p 72 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2306-5729/6/7/72/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/data6070072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Data; Volume 6; Issue 7; Pages: 72","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/data6070072","is_oa":true,"landing_page_url":"https://doi.org/10.3390/data6070072","pdf_url":"https://www.mdpi.com/2306-5729/6/7/72/pdf?version=1624937799","source":{"id":"https://openalex.org/S4210226510","display_name":"Data","issn_l":"2306-5729","issn":["2306-5729"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Data","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3177192739.pdf","grobid_xml":"https://content.openalex.org/works/W3177192739.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W113836369","https://openalex.org/W1550078033","https://openalex.org/W2010717132","https://openalex.org/W2034477646","https://openalex.org/W2067007369","https://openalex.org/W2092943298","https://openalex.org/W2125691646","https://openalex.org/W2128885783","https://openalex.org/W2133140916","https://openalex.org/W2141311656","https://openalex.org/W2160146756","https://openalex.org/W2168270909","https://openalex.org/W2294966024","https://openalex.org/W2396274919","https://openalex.org/W2480859604","https://openalex.org/W2509533525","https://openalex.org/W2565104410","https://openalex.org/W2616510615","https://openalex.org/W2749794192","https://openalex.org/W2760759691","https://openalex.org/W2781125408","https://openalex.org/W2797395780","https://openalex.org/W2891047313","https://openalex.org/W2979855513","https://openalex.org/W3025126338","https://openalex.org/W3082224474","https://openalex.org/W3088730231","https://openalex.org/W3094905052","https://openalex.org/W3095391201","https://openalex.org/W3098486636","https://openalex.org/W3104978629","https://openalex.org/W3107433031","https://openalex.org/W3140662900","https://openalex.org/W4292888456","https://openalex.org/W6604575487"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"Inertial":[0],"measurement":[1],"units":[2],"(IMUs)":[3],"enable":[4],"orientation,":[5],"velocity,":[6],"and":[7,17,24,50,60,91,107,115,133,139,170,182,189,197],"position":[8],"estimation":[9,30,48],"in":[10,28,45,102],"several":[11],"application":[12,199],"domains":[13],"ranging":[14],"from":[15],"robotics":[16],"autonomous":[18],"vehicles":[19],"to":[20,164,178],"human":[21],"motion":[22,36,169],"capture":[23],"rehabilitation":[25],"engineering.":[26],"Errors":[27],"orientation":[29,47],"greatly":[31],"affect":[32],"any":[33],"of":[34,82,95,136,168,192],"those":[35],"parameters.":[37],"The":[38,78],"present":[39],"work":[40],"explains":[41],"the":[42,70,131,137,146,165,173,186],"main":[43],"challenges":[44],"inertial":[46,59,193],"(IOE)":[49],"presents":[51],"an":[52,103,151],"extensive":[53],"benchmark":[54,142,175],"dataset":[55,80],"that":[56,85,123],"includes":[57],"3D":[58],"magnetic":[61],"data":[62],"with":[63,112],"synchronized":[64],"optical":[65],"marker-based":[66],"ground":[67],"truth":[68],"measurements,":[69],"Berlin":[71],"Robust":[72],"Orientation":[73],"Estimation":[74],"Assessment":[75],"Dataset":[76],"(BROAD).":[77],"BROAD":[79],"consists":[81],"39":[83],"trials":[84,99,109],"are":[86,100,110],"conducted":[87],"at":[88],"different":[89],"speeds":[90],"include":[92],"various":[93],"types":[94],"movement.":[96],"Thereof,":[97],"23":[98],"performed":[101],"undisturbed":[104],"indoor":[105],"environment,":[106],"16":[108],"recorded":[111],"deliberate":[113],"magnetometer":[114],"accelerometer":[116],"disturbances.":[117],"We":[118],"furthermore":[119],"propose":[120],"error":[121,138],"metrics":[122],"allow":[124],"for":[125,185],"IOE":[126,161],"accuracy":[127],"evaluation":[128],"while":[129],"separating":[130],"heading":[132],"inclination":[134],"portions":[135],"introduce":[140],"well-defined":[141],"metrics.":[143],"Based":[144],"on":[145,155],"proposed":[147,174],"benchmark,":[148],"we":[149],"perform":[150],"exemplary":[152],"case":[153],"study":[154],"two":[156],"widely":[157],"used":[158],"openly":[159],"available":[160],"algorithms.":[162],"Due":[163],"broad":[166],"range":[167],"disturbance":[171],"scenarios,":[172],"is":[176],"expected":[177],"provide":[179],"valuable":[180],"insight":[181],"useful":[183],"tools":[184],"assessment,":[187],"selection,":[188],"further":[190],"development":[191],"sensor":[194],"fusion":[195],"methods":[196],"IMU-based":[198],"systems.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2021-07-05T00:00:00"}
