{"id":"https://openalex.org/W2768554991","doi":"https://doi.org/10.3390/s17112613","title":"Monocular Visual-Inertial SLAM: Continuous Preintegration and Reliable Initialization","display_name":"Monocular Visual-Inertial SLAM: Continuous Preintegration and Reliable Initialization","publication_year":2017,"publication_date":"2017-11-14","ids":{"openalex":"https://openalex.org/W2768554991","doi":"https://doi.org/10.3390/s17112613","mag":"2768554991","pmid":"https://pubmed.ncbi.nlm.nih.gov/29135966"},"language":"en","primary_location":{"id":"doi:10.3390/s17112613","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17112613","pdf_url":"https://www.mdpi.com/1424-8220/17/11/2613/pdf?version=1510821109","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/17/11/2613/pdf?version=1510821109","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086757613","display_name":"Yi Liu","orcid":"https://orcid.org/0000-0001-9481-2429"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Liu","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Multi-Spectral Information Processing, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Multi-Spectral Information Processing, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430402","display_name":"Zhong Chen","orcid":"https://orcid.org/0000-0001-8256-0156"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhong Chen","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Multi-Spectral Information Processing, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Multi-Spectral Information Processing, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042952805","display_name":"Wenjuan Zheng","orcid":"https://orcid.org/0000-0002-6713-7082"},"institutions":[{"id":"https://openalex.org/I4210166468","display_name":"Beijing Aerospace Flight Control Center","ror":"https://ror.org/007a14354","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210166468"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjuan Zheng","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute, Beijing 100854, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute, Beijing 100854, China","institution_ids":["https://openalex.org/I4210166468"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100446151","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0002-6887-4930"},"institutions":[{"id":"https://openalex.org/I4210166468","display_name":"Beijing Aerospace Flight Control Center","ror":"https://ror.org/007a14354","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210166468"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute, Beijing 100854, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute, Beijing 100854, China","institution_ids":["https://openalex.org/I4210166468"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100333045","display_name":"Jianguo Liu","orcid":"https://orcid.org/0000-0002-3620-3905"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianguo Liu","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Multi-Spectral Information Processing, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Multi-Spectral Information Processing, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100430402"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":41.4677,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.99444003,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"17","issue":"11","first_page":"2613","last_page":"2613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9991999864578247,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.9201177358627319},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.8928697109222412},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7067973613739014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6976505517959595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6832510828971863},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5854763984680176},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5073630213737488},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.46929794549942017},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0668720006942749}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.9201177358627319},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8928697109222412},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7067973613739014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6976505517959595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6832510828971863},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5854763984680176},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5073630213737488},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.46929794549942017},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0668720006942749},{"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s17112613","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17112613","pdf_url":"https://www.mdpi.com/1424-8220/17/11/2613/pdf?version=1510821109","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:29135966","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29135966","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:b96a6289c14449b99865b97aa0d7fb53","is_oa":false,"landing_page_url":"https://doaj.org/article/b96a6289c14449b99865b97aa0d7fb53","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 17, Iss 11, p 2613 (2017)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:4633393","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5712814","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/17/11/2613/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s17112613","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":"Sensors; Volume 17; Issue 11; Pages: 2613","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s17112613","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17112613","pdf_url":"https://www.mdpi.com/1424-8220/17/11/2613/pdf?version=1510821109","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320336024","display_name":"Specialized Research Fund for the Doctoral Program of Higher Education of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2768554991.pdf","grobid_xml":"https://content.openalex.org/works/W2768554991.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W181236417","https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1981699551","https://openalex.org/W1998058414","https://openalex.org/W2004835121","https://openalex.org/W2040938785","https://openalex.org/W2051349034","https://openalex.org/W2055904838","https://openalex.org/W2056358962","https://openalex.org/W2069479606","https://openalex.org/W2071626497","https://openalex.org/W2091790851","https://openalex.org/W2099940712","https://openalex.org/W2107772635","https://openalex.org/W2118428504","https://openalex.org/W2119927502","https://openalex.org/W2127752689","https://openalex.org/W2134837751","https://openalex.org/W2137052305","https://openalex.org/W2140599684","https://openalex.org/W2148164661","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2162161345","https://openalex.org/W2166721300","https://openalex.org/W2169207653","https://openalex.org/W2276677361","https://openalex.org/W2396274919","https://openalex.org/W2411649036","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2530164436","https://openalex.org/W2538522345","https://openalex.org/W2569720095","https://openalex.org/W2745007981","https://openalex.org/W2773447888","https://openalex.org/W3103648783","https://openalex.org/W3125449081","https://openalex.org/W4246483956","https://openalex.org/W6642822174","https://openalex.org/W6679388247","https://openalex.org/W6683829498","https://openalex.org/W6685327758","https://openalex.org/W6721610202"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W3031039437","https://openalex.org/W3095877357","https://openalex.org/W183202219","https://openalex.org/W2991246638","https://openalex.org/W2785359964","https://openalex.org/W2980723633"],"abstract_inverted_index":{"In":[0],"this":[1,33],"paper,":[2],"we":[3,57],"propose":[4],"a":[5,21,27,59,63],"new":[6],"visual-inertial":[7,54],"Simultaneous":[8],"Localization":[9],"and":[10,26,40,90,116],"Mapping":[11],"(SLAM)":[12],"algorithm.":[13],"With":[14],"the":[15,44,52,73,77,81,87,91,113,122],"tightly":[16],"coupled":[17],"sensor":[18,45],"fusion":[19,55],"of":[20,43,84],"global":[22],"shutter":[23],"monocular":[24],"camera":[25],"low-cost":[28],"Inertial":[29],"Measurement":[30],"Unit":[31,107],"(IMU),":[32],"algorithm":[34,69,115],"is":[35,119],"able":[36],"to":[37,121],"achieve":[38],"robust":[39,92],"real-time":[41,53,102],"estimates":[42,100],"poses":[46],"in":[47,101],"unknown":[48],"environment.":[49],"To":[50],"address":[51],"problem,":[56],"present":[58],"parallel":[60],"framework":[61],"with":[62],"novel":[64,74],"IMU":[65,75],"initialization":[66,93],"method.":[67,124],"Our":[68],"also":[70,111],"benefits":[71],"from":[72],"factor,":[76],"continuous":[78],"preintegration":[79],"method,":[80],"vision":[82],"factor":[83],"directional":[85],"error,":[86],"separability":[88],"trick":[89],"criterion":[94],"which":[95],"can":[96],"efficiently":[97],"output":[98],"reliable":[99],"on":[103],"modern":[104],"Central":[105],"Processing":[106],"(CPU).":[108],"Tremendous":[109],"experiments":[110],"validate":[112],"proposed":[114],"prove":[117],"it":[118],"comparable":[120],"state-of-art":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}