{"id":"https://openalex.org/W3185794782","doi":"https://doi.org/10.3390/s21155004","title":"Continuous Fusion of Motion Data Using an Axis-Angle Rotation Representation with Uniform B-Spline","display_name":"Continuous Fusion of Motion Data Using an Axis-Angle Rotation Representation with Uniform B-Spline","publication_year":2021,"publication_date":"2021-07-23","ids":{"openalex":"https://openalex.org/W3185794782","doi":"https://doi.org/10.3390/s21155004","mag":"3185794782","pmid":"https://pubmed.ncbi.nlm.nih.gov/34372242"},"language":"en","primary_location":{"id":"doi:10.3390/s21155004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21155004","pdf_url":"https://www.mdpi.com/1424-8220/21/15/5004/pdf?version=1627036017","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","datacite","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/15/5004/pdf?version=1627036017","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016663238","display_name":"Haohao Hu","orcid":"https://orcid.org/0000-0002-9828-5790"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Haohao Hu","raw_affiliation_strings":["Institut of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Engler-Bunte-Ring 21, 76131 Karlsruhe, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9828-5790","affiliations":[{"raw_affiliation_string":"Institut of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Engler-Bunte-Ring 21, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016654339","display_name":"Johannes Beck","orcid":"https://orcid.org/0000-0003-3624-0535"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Johannes Beck","raw_affiliation_strings":["Atlatec GmbH, Haid-und-Neu-Stra\u00dfe 7, 76131 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Atlatec GmbH, Haid-und-Neu-Stra\u00dfe 7, 76131 Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008189468","display_name":"Martin Lauer","orcid":"https://orcid.org/0000-0003-4414-5722"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Lauer","raw_affiliation_strings":["Institut of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Engler-Bunte-Ring 21, 76131 Karlsruhe, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4414-5722","affiliations":[{"raw_affiliation_string":"Institut of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Engler-Bunte-Ring 21, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institut of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Engler-Bunte-Ring 21, 76131 Karlsruhe, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4165-2075","affiliations":[{"raw_affiliation_string":"Institut of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Engler-Bunte-Ring 21, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5016663238"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2006,"currency":"EUR","value_usd":2163},"fwci":0.2827,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54340932,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"21","issue":"15","first_page":"5004","last_page":"5004"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9954000115394592,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9954000115394592,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9901999831199646,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/sensor-fusion","display_name":"Sensor fusion","score":0.6434164047241211},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5753018856048584},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5670667886734009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5456224083900452},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.5322596430778503},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5242974162101746},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4772900640964508},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.46753355860710144},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4566956162452698},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.45509645342826843},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4166443645954132},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34913671016693115},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3209368586540222},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1675603687763214}],"concepts":[{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6434164047241211},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5753018856048584},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5670667886734009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5456224083900452},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.5322596430778503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5242974162101746},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4772900640964508},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.46753355860710144},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4566956162452698},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.45509645342826843},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4166443645954132},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34913671016693115},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3209368586540222},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1675603687763214},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.3390/s21155004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21155004","pdf_url":"https://www.mdpi.com/1424-8220/21/15/5004/pdf?version=1627036017","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:34372242","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34372242","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:EVASTAR-Karlsruhe.de:1000136123","is_oa":true,"landing_page_url":"https://publikationen.bibliothek.kit.edu/1000136123","pdf_url":null,"source":{"id":"https://openalex.org/S4306401992","display_name":"Repository KITopen (Karlsruhe Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102335020","host_organization_name":"Karlsruhe Institute of Technology","host_organization_lineage":["https://openalex.org/I102335020"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors, 21 (15), 5004","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:9aa3612d53034deeb32bc0a45f05b251","is_oa":true,"landing_page_url":"https://doaj.org/article/9aa3612d53034deeb32bc0a45f05b251","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 21, Iss 15, p 5004 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/15/5004/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21155004","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 21; Issue 15; Pages: 5004","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8347222","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8347222","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"doi:10.5445/ir/1000136123","is_oa":true,"landing_page_url":"https://doi.org/10.5445/ir/1000136123","pdf_url":null,"source":{"id":"https://openalex.org/S7407052948","display_name":"KITopen","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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.3390/s21155004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21155004","pdf_url":"https://www.mdpi.com/1424-8220/21/15/5004/pdf?version=1627036017","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/F4320311048","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3185794782.pdf","grobid_xml":"https://content.openalex.org/works/W3185794782.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1965691524","https://openalex.org/W1974258316","https://openalex.org/W1983924674","https://openalex.org/W1984331896","https://openalex.org/W2024500604","https://openalex.org/W2027661541","https://openalex.org/W2033819227","https://openalex.org/W2060076763","https://openalex.org/W2075684023","https://openalex.org/W2076231474","https://openalex.org/W2095583632","https://openalex.org/W2116334708","https://openalex.org/W2121602193","https://openalex.org/W2209124607","https://openalex.org/W2562542491","https://openalex.org/W2592770378","https://openalex.org/W2741562645","https://openalex.org/W2759375001","https://openalex.org/W2763476526","https://openalex.org/W2789734266","https://openalex.org/W2792006036","https://openalex.org/W2805122102","https://openalex.org/W2909376995","https://openalex.org/W2991081339","https://openalex.org/W4205510932","https://openalex.org/W6669582592"],"related_works":["https://openalex.org/W2354322770","https://openalex.org/W3000097931","https://openalex.org/W4237547500","https://openalex.org/W1570848052","https://openalex.org/W2373192430","https://openalex.org/W4239268388","https://openalex.org/W1537496349","https://openalex.org/W2154495931","https://openalex.org/W2785359964","https://openalex.org/W3135709989"],"abstract_inverted_index":{"The":[0],"fusion":[1,74,89,115,151,158],"of":[2,10],"motion":[3,34,94],"data":[4,35,50,103,141],"is":[5,59,119],"key":[6],"in":[7,41,51],"the":[8,33,130,138],"fields":[9],"robotic":[11],"and":[12,32,54,83,101,110,126,149],"automated":[13],"driving.":[14],"Most":[15],"existing":[16],"approaches":[17,47,70],"are":[18],"filter-based":[19,24],"or":[20],"pose-graph-based.":[21],"By":[22],"using":[23],"approaches,":[25],"parameters":[26],"should":[27],"be":[28,39],"set":[29],"very":[30],"carefully":[31],"can":[36,48,92],"usually":[37],"only":[38,71],"fused":[40],"a":[42,85],"time":[43,52],"forward":[44,53],"direction.":[45],"Pose-graph-based":[46],"fuse":[49,93],"backward":[55],"directions.":[56],"However,":[57],"pre-integration":[58],"needed":[60],"by":[61],"applying":[62],"measurements":[63,95],"from":[64,96,104],"inertial":[65,98],"measurement":[66,99],"units.":[67],"Additionally,":[68],"both":[69],"provide":[72],"discrete":[73],"results.":[75],"In":[76,112],"this":[77,81],"work,":[78],"we":[79],"address":[80],"problem":[82],"present":[84],"uniform":[86,127],"B-spline-based":[87],"continuous":[88,114,150,157],"approach,":[90,116],"which":[91,153],"an":[97,117],"unit":[100],"pose":[102],"other":[105],"localization":[106],"systems":[107],"robustly,":[108],"accurately":[109],"efficiently.":[111],"our":[113,122,144,156],"axis-angle":[118],"applied":[120],"as":[121,129],"rotation":[123],"representation":[124],"method":[125],"B-spline":[128],"back-end":[131],"optimization":[132],"base.":[133],"Evaluation":[134],"results":[135],"performed":[136],"on":[137],"real":[139],"world":[140],"show":[142],"that":[143],"approach":[145],"provides":[146],"accurate,":[147],"robust":[148],"results,":[152],"again":[154],"supports":[155],"concept.":[159]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}