{"id":"https://openalex.org/W2167828580","doi":"https://doi.org/10.3390/robotics3030247","title":"IMU and Multiple RGB-D Camera Fusion for Assisting Indoor Stop-and-Go 3D Terrestrial Laser Scanning","display_name":"IMU and Multiple RGB-D Camera Fusion for Assisting Indoor Stop-and-Go 3D Terrestrial Laser Scanning","publication_year":2014,"publication_date":"2014-07-11","ids":{"openalex":"https://openalex.org/W2167828580","doi":"https://doi.org/10.3390/robotics3030247","mag":"2167828580"},"language":"en","primary_location":{"id":"doi:10.3390/robotics3030247","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics3030247","pdf_url":"https://www.mdpi.com/2218-6581/3/3/247/pdf?version=1405064115","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/3/3/247/pdf?version=1405064115","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047608547","display_name":"Jacky Chow","orcid":"https://orcid.org/0000-0001-9382-9560"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Jacky Chow","raw_affiliation_strings":["Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, 2500 University Drive N.W., Calgary, AB T2N 1N4, Canada"],"raw_orcid":"https://orcid.org/0000-0001-9382-9560","affiliations":[{"raw_affiliation_string":"Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, 2500 University Drive N.W., Calgary, AB T2N 1N4, Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010635267","display_name":"Derek D. Lichti","orcid":"https://orcid.org/0000-0001-7038-073X"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Derek Lichti","raw_affiliation_strings":["Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, 2500 University Drive N.W., Calgary, AB T2N 1N4, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, 2500 University Drive N.W., Calgary, AB T2N 1N4, Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025558202","display_name":"Jeroen D. Hol","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102208","display_name":"Xsens (Netherlands)","ror":"https://ror.org/0190g0e24","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210102208"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jeroen Hol","raw_affiliation_strings":["Xsens Technologies B.V., Pantheon 6a, Enschede 7521 PR, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xsens Technologies B.V., Pantheon 6a, Enschede 7521 PR, The Netherlands","institution_ids":["https://openalex.org/I4210102208"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078705850","display_name":"Giovanni Bellusci","orcid":"https://orcid.org/0000-0002-5514-2503"},"institutions":[{"id":"https://openalex.org/I4210102208","display_name":"Xsens (Netherlands)","ror":"https://ror.org/0190g0e24","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210102208"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Giovanni Bellusci","raw_affiliation_strings":["Xsens Technologies B.V., Pantheon 6a, Enschede 7521 PR, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-5514-2503","affiliations":[{"raw_affiliation_string":"Xsens Technologies B.V., Pantheon 6a, Enschede 7521 PR, The Netherlands","institution_ids":["https://openalex.org/I4210102208"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109836474","display_name":"Henk Luinge","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102208","display_name":"Xsens (Netherlands)","ror":"https://ror.org/0190g0e24","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210102208"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Henk Luinge","raw_affiliation_strings":["Xsens Technologies B.V., Pantheon 6a, Enschede 7521 PR, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xsens Technologies B.V., Pantheon 6a, Enschede 7521 PR, The Netherlands","institution_ids":["https://openalex.org/I4210102208"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5047608547"],"corresponding_institution_ids":["https://openalex.org/I168635309"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":126.1631,"has_fulltext":true,"cited_by_count":49,"citation_normalized_percentile":{"value":0.99841665,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"247","last_page":"280"},"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":0.9998000264167786,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7817985415458679},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7599451541900635},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7507071495056152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7282529473304749},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7223981022834778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6315436959266663},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6262183785438538},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5779362320899963},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5086151361465454},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.44709154963493347},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4440893828868866},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4321762025356293},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32341915369033813},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3161125183105469},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2747821807861328},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.19073298573493958}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7817985415458679},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7599451541900635},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7507071495056152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7282529473304749},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7223981022834778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6315436959266663},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6262183785438538},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5779362320899963},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5086151361465454},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.44709154963493347},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4440893828868866},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4321762025356293},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32341915369033813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3161125183105469},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2747821807861328},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.19073298573493958},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics3030247","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics3030247","pdf_url":"https://www.mdpi.com/2218-6581/3/3/247/pdf?version=1405064115","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f1ded9cd9c45462aaa3f34a9da04f4e0","is_oa":true,"landing_page_url":"https://doaj.org/article/f1ded9cd9c45462aaa3f34a9da04f4e0","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 3, Iss 3, Pp 247-280 (2014)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/3/3/247/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics3030247","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":"Robotics; Volume 3; Issue 3; Pages: 247-280","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics3030247","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics3030247","pdf_url":"https://www.mdpi.com/2218-6581/3/3/247/pdf?version=1405064115","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322337","display_name":"Killam Trusts","ror":"https://ror.org/021cbtn85"},{"id":"https://openalex.org/F4320325651","display_name":"Alberta Innovates","ror":null},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2167828580.pdf","grobid_xml":"https://content.openalex.org/works/W2167828580.grobid-xml"},"referenced_works_count":88,"referenced_works":["https://openalex.org/W2252491","https://openalex.org/W57641186","https://openalex.org/W222103745","https://openalex.org/W290129977","https://openalex.org/W304861154","https://openalex.org/W576304745","https://openalex.org/W634710820","https://openalex.org/W804066119","https://openalex.org/W1187244281","https://openalex.org/W1482006497","https://openalex.org/W1490590450","https://openalex.org/W1510264126","https://openalex.org/W1521470386","https://openalex.org/W1564768010","https://openalex.org/W1627400044","https://openalex.org/W1716229439","https://openalex.org/W1965386961","https://openalex.org/W1966890402","https://openalex.org/W1972671602","https://openalex.org/W1987441863","https://openalex.org/W1988528178","https://openalex.org/W1989625560","https://openalex.org/W1990124658","https://openalex.org/W1991793962","https://openalex.org/W1993267444","https://openalex.org/W2005554070","https://openalex.org/W2006228795","https://openalex.org/W2008991198","https://openalex.org/W2009422376","https://openalex.org/W2014001040","https://openalex.org/W2015996585","https://openalex.org/W2025089751","https://openalex.org/W2029242090","https://openalex.org/W2032662565","https://openalex.org/W2036094175","https://openalex.org/W2041094000","https://openalex.org/W2049981393","https://openalex.org/W2050256614","https://openalex.org/W2054308421","https://openalex.org/W2063549868","https://openalex.org/W2064151298","https://openalex.org/W2065906272","https://openalex.org/W2067307401","https://openalex.org/W2085100338","https://openalex.org/W2089864408","https://openalex.org/W2094368692","https://openalex.org/W2096521559","https://openalex.org/W2098171705","https://openalex.org/W2099940712","https://openalex.org/W2103453923","https://openalex.org/W2111295830","https://openalex.org/W2119851068","https://openalex.org/W2124768549","https://openalex.org/W2125420246","https://openalex.org/W2126457740","https://openalex.org/W2127578024","https://openalex.org/W2127600800","https://openalex.org/W2128873520","https://openalex.org/W2133759223","https://openalex.org/W2136391352","https://openalex.org/W2136614571","https://openalex.org/W2137504719","https://openalex.org/W2139114878","https://openalex.org/W2140924050","https://openalex.org/W2141205356","https://openalex.org/W2142008986","https://openalex.org/W2146881125","https://openalex.org/W2147885662","https://openalex.org/W2151047074","https://openalex.org/W2151290401","https://openalex.org/W2158037930","https://openalex.org/W2159458588","https://openalex.org/W2160468691","https://openalex.org/W2166132830","https://openalex.org/W2168091185","https://openalex.org/W2187064302","https://openalex.org/W2294850404","https://openalex.org/W2324406465","https://openalex.org/W2509493982","https://openalex.org/W2559373280","https://openalex.org/W4230766380","https://openalex.org/W4246378529","https://openalex.org/W4291015122","https://openalex.org/W6622733805","https://openalex.org/W6628960013","https://openalex.org/W6637636807","https://openalex.org/W6666305412","https://openalex.org/W6677830229"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W3153542184","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029"],"abstract_inverted_index":{"Autonomous":[0],"Simultaneous":[1],"Localization":[2],"and":[3,20,26,52,82,121,128,154],"Mapping":[4,141],"(SLAM)":[5],"is":[6,46,102],"an":[7,86,130],"important":[8],"topic":[9],"in":[10,85,105,123],"many":[11],"engineering":[12],"fields.":[13],"Since":[14],"stop-and-go":[15],"systems":[16,22],"are":[17],"typically":[18],"slow":[19],"full-kinematic":[21],"may":[23],"lack":[24],"accuracy":[25],"integrity,":[27],"this":[28],"paper":[29],"presents":[30],"a":[31,49,69,156],"novel":[32],"hybrid":[33],"\u201ccontinuous":[34],"stop-and-go\u201d":[35],"mobile":[36],"mapping":[37,134],"system":[38,45],"called":[39],"Scannect.":[40],"A":[41,93],"3D":[42],"terrestrial":[43],"LiDAR":[44],"integrated":[47],"with":[48,125,137],"MEMS":[50],"IMU":[51],"two":[53],"Microsoft":[54],"Kinect":[55],"sensors":[56],"to":[57],"map":[58,120],"indoor":[59],"urban":[60],"environments.":[61],"The":[62,117],"Kinects\u2019":[63],"depth":[64],"maps":[65],"were":[66],"processed":[67],"using":[68],"new":[70,94],"point-to-plane":[71],"ICP":[72],"that":[73],"minimizes":[74],"the":[75,79,97,106,111,114],"reprojection":[76],"error":[77],"of":[78,96,113,139,147,161],"infrared":[80],"camera":[81],"projector":[83],"pair":[84],"implicit":[87,107],"iterative":[88],"extended":[89],"Kalman":[90],"filter":[91],"(IEKF).":[92],"formulation":[95],"5-point":[98],"visual":[99],"odometry":[100],"method":[101],"tightly":[103],"coupled":[104],"IEKF":[108],"without":[109],"increasing":[110],"dimensions":[112],"state":[115],"space.":[116],"Scannect":[118],"can":[119],"navigate":[122],"areas":[124,136],"textureless":[126],"walls":[127],"provides":[129],"effective":[131],"means":[132],"for":[133],"large":[135],"lots":[138],"occlusions.":[140],"long":[142],"corridors":[143],"(total":[144],"travel":[145],"distance":[146],"120":[148],"m)":[149],"took":[150],"approximately":[151],"30":[152],"minutes":[153],"achieved":[155],"Mean":[157],"Radial":[158],"Spherical":[159],"Error":[160],"17":[162],"cm":[163],"before":[164],"smoothing":[165],"or":[166],"global":[167],"optimization.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2016-06-24T00:00:00"}