{"id":"https://openalex.org/W2983318533","doi":"https://doi.org/10.3390/s19214816","title":"ACK-MSCKF: Tightly-Coupled Ackermann Multi-State Constraint Kalman Filter for Autonomous Vehicle Localization","display_name":"ACK-MSCKF: Tightly-Coupled Ackermann Multi-State Constraint Kalman Filter for Autonomous Vehicle Localization","publication_year":2019,"publication_date":"2019-11-05","ids":{"openalex":"https://openalex.org/W2983318533","doi":"https://doi.org/10.3390/s19214816","mag":"2983318533","pmid":"https://pubmed.ncbi.nlm.nih.gov/31694304"},"language":"en","primary_location":{"id":"doi:10.3390/s19214816","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19214816","pdf_url":"https://www.mdpi.com/1424-8220/19/21/4816/pdf?version=1572957266","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/1424-8220/19/21/4816/pdf?version=1572957266","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089996633","display_name":"Fangwu Ma","orcid":"https://orcid.org/0000-0002-0007-0549"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangwu Ma","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":"https://orcid.org/0000-0002-0007-0549","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078126032","display_name":"Jinzhu Shi","orcid":"https://orcid.org/0000-0002-8105-7441"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinzhu Shi","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101714525","display_name":"Yang Yu","orcid":"https://orcid.org/0000-0002-3206-9710"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Yang","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102830479","display_name":"Jinhang Li","orcid":"https://orcid.org/0009-0003-6535-9196"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhang Li","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042044136","display_name":"Kai Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Dai","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5078126032"],"corresponding_institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":25.733,"has_fulltext":true,"cited_by_count":39,"citation_normalized_percentile":{"value":0.990671,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"19","issue":"21","first_page":"4816","last_page":"4816"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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":0.9975000023841858,"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/ackermann-function","display_name":"Ackermann function","score":0.9229254126548767},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.797441303730011},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6012481451034546},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5850048065185547},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5689142942428589},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5604370832443237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5264811515808105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48002997040748596},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.4275393486022949},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4119487702846527},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3972330689430237},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3424980640411377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31197088956832886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16819092631340027},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16088047623634338},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.11783221364021301}],"concepts":[{"id":"https://openalex.org/C33436860","wikidata":"https://www.wikidata.org/wiki/Q341835","display_name":"Ackermann function","level":3,"score":0.9229254126548767},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.797441303730011},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6012481451034546},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5850048065185547},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5689142942428589},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5604370832443237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5264811515808105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48002997040748596},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.4275393486022949},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4119487702846527},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3972330689430237},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3424980640411377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31197088956832886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16819092631340027},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16088047623634338},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.11783221364021301},{"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/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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19214816","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19214816","pdf_url":"https://www.mdpi.com/1424-8220/19/21/4816/pdf?version=1572957266","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:31694304","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31694304","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:f6c399b1087a42d09f035924af7eced6","is_oa":true,"landing_page_url":"https://doaj.org/article/f6c399b1087a42d09f035924af7eced6","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":"Sensors, Vol 19, Iss 21, p 4816 (2019)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5875764","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6864737","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:/1424-8220/19/21/4816/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19214816","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19214816","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19214816","pdf_url":"https://www.mdpi.com/1424-8220/19/21/4816/pdf?version=1572957266","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":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.44999998807907104}],"awards":[{"id":"https://openalex.org/G377128437","display_name":null,"funder_award_id":"51705185","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4306817526","display_name":null,"funder_award_id":"No. 51705185","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4609683459","display_name":null,"funder_award_id":"20190302077GX","funder_id":"https://openalex.org/F4320322174","funder_display_name":"People's Government of Jilin Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322174","display_name":"People's Government of Jilin Province","ror":"https://ror.org/02fzqav45"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2983318533.pdf","grobid_xml":"https://content.openalex.org/works/W2983318533.grobid-xml"},"referenced_works_count":61,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1544016679","https://openalex.org/W1968315983","https://openalex.org/W1998058414","https://openalex.org/W2021851106","https://openalex.org/W2050145531","https://openalex.org/W2079136668","https://openalex.org/W2081332899","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2127752689","https://openalex.org/W2137052305","https://openalex.org/W2150066425","https://openalex.org/W2173066840","https://openalex.org/W2216550548","https://openalex.org/W2219787495","https://openalex.org/W2255861001","https://openalex.org/W2316378954","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2536927294","https://openalex.org/W2538522345","https://openalex.org/W2544243493","https://openalex.org/W2564632156","https://openalex.org/W2736960679","https://openalex.org/W2738820790","https://openalex.org/W2745859992","https://openalex.org/W2758772066","https://openalex.org/W2767118392","https://openalex.org/W2785442695","https://openalex.org/W2788608285","https://openalex.org/W2793225041","https://openalex.org/W2796916234","https://openalex.org/W2797929305","https://openalex.org/W2798513908","https://openalex.org/W2801910602","https://openalex.org/W2883702102","https://openalex.org/W2889436533","https://openalex.org/W2895006792","https://openalex.org/W2897614258","https://openalex.org/W2898002610","https://openalex.org/W2899005021","https://openalex.org/W2909157769","https://openalex.org/W2921648137","https://openalex.org/W2939652577","https://openalex.org/W2943867058","https://openalex.org/W2945772959","https://openalex.org/W2948679783","https://openalex.org/W2962987986","https://openalex.org/W2963566952","https://openalex.org/W2968462466","https://openalex.org/W2968489055","https://openalex.org/W2997495511","https://openalex.org/W3098250009","https://openalex.org/W3102327032","https://openalex.org/W3105612746","https://openalex.org/W3124191376","https://openalex.org/W4246449400","https://openalex.org/W4246614213"],"related_works":["https://openalex.org/W2387696481","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2062158686","https://openalex.org/W2388366184"],"abstract_inverted_index":{"Visual-Inertial":[0],"Odometry":[1],"(VIO)":[2],"is":[3,32,72],"subjected":[4],"to":[5,34,108,130],"additional":[6,100],"unobservable":[7],"directions":[8],"under":[9,121,144,159],"the":[10,41,59,65,70,81,92,103,110,131,138,145,170,174],"special":[11,146],"motions":[12,147],"of":[13,142,148],"ground":[14],"vehicles,":[15,150],"resulting":[16],"in":[17,57],"larger":[18],"pose":[19,111,139,156],"estimation":[20,112,140,157],"errors.":[21],"To":[22],"address":[23],"this":[24],"problem,":[25],"a":[26,49],"tightly-coupled":[27,50],"Ackermann":[28,36,84,104,126],"visual-inertial":[29],"odometry":[30],"(ACK-MSCKF)":[31],"proposed":[33],"fuse":[35],"error":[37,85],"state":[38,86,96],"measurements":[39,87,90,105],"and":[40,68,88,95,116,151,154,164],"Stereo":[42],"Multi-State":[43],"Constraint":[44],"Kalman":[45],"Filter":[46],"(S-MSCKF)":[47],"with":[48,55,83],"filter-based":[51],"mechanism.":[52],"In":[53],"contrast":[54],"S-MSCKF,":[56],"which":[58],"inertial":[60],"measurement":[61],"unit":[62],"(IMU)":[63],"propagates":[64],"vehicle":[66,128,161],"motion":[67],"then":[69],"propagation":[71,82],"corrected":[73],"by":[74],"stereo":[75],"visual":[76,89],"measurements,":[77],"we":[78],"successively":[79],"update":[80],"after":[91],"process":[93],"model":[94],"augmentation.":[97],"This":[98,167],"way,":[99],"constraints":[101],"from":[102,124],"are":[106],"exploited":[107],"improve":[109,137],"accuracy.":[113],"Both":[114],"qualitative":[115],"quantitative":[117],"experimental":[118],"results":[119],"evaluated":[120],"real-world":[122],"datasets":[123],"an":[125],"steering":[127],"lead":[129],"following":[132],"demonstration:":[133],"ACK-MSCKF":[134],"can":[135],"significantly":[136],"accuracy":[141],"S-MSCKF":[143],"autonomous":[149],"keep":[152],"accurate":[153],"robust":[155],"available":[158],"different":[160],"driving":[162],"cycles":[163],"environmental":[165],"conditions.":[166],"paper":[168],"accompanies":[169],"source":[171],"code":[172],"for":[173],"robotics":[175],"community.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}