{"id":"https://openalex.org/W3197886231","doi":"https://doi.org/10.3390/s21175913","title":"Depth-Camera-Aided Inertial Navigation Utilizing Directional Constraints","display_name":"Depth-Camera-Aided Inertial Navigation Utilizing Directional Constraints","publication_year":2021,"publication_date":"2021-09-02","ids":{"openalex":"https://openalex.org/W3197886231","doi":"https://doi.org/10.3390/s21175913","mag":"3197886231","pmid":"https://pubmed.ncbi.nlm.nih.gov/34502806"},"language":"en","primary_location":{"id":"doi:10.3390/s21175913","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21175913","pdf_url":"https://www.mdpi.com/1424-8220/21/17/5913/pdf?version=1630587771","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/1424-8220/21/17/5913/pdf?version=1630587771","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063004347","display_name":"Usman Qayyum","orcid":"https://orcid.org/0000-0003-0971-2197"},"institutions":[{"id":"https://openalex.org/I4210088086","display_name":"Capital University of Science and Technology","ror":"https://ror.org/004776246","country_code":"PK","type":"education","lineage":["https://openalex.org/I4210088086"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Usman Qayyum","raw_affiliation_strings":["Center of Excellence in Science & Applied Technology (CESAT), Islamabad 45550, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Excellence in Science & Applied Technology (CESAT), Islamabad 45550, Pakistan","institution_ids":["https://openalex.org/I4210088086"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724793","display_name":"Jonghyuk Kim","orcid":"https://orcid.org/0000-0003-4505-1103"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Jonghyuk Kim","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Sydney, NSW 2006, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4505-1103","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Sydney, NSW 2006, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101724793"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":2.145,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.93229549,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"21","issue":"17","first_page":"5913","last_page":"5913"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991000294685364,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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/computer-vision","display_name":"Computer vision","score":0.8065577745437622},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.7855756878852844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7681980133056641},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6671277284622192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6255730390548706},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5445367097854614},{"id":"https://openalex.org/keywords/parallax","display_name":"Parallax","score":0.533515453338623},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5266951322555542},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5150629878044128},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4932097792625427},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4470925033092499},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22382888197898865},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.16280332207679749},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1334339678287506}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8065577745437622},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.7855756878852844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7681980133056641},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6671277284622192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6255730390548706},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5445367097854614},{"id":"https://openalex.org/C15759828","wikidata":"https://www.wikidata.org/wiki/Q165074","display_name":"Parallax","level":2,"score":0.533515453338623},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5266951322555542},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5150629878044128},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4932097792625427},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4470925033092499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22382888197898865},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16280332207679749},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1334339678287506},{"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}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21175913","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21175913","pdf_url":"https://www.mdpi.com/1424-8220/21/17/5913/pdf?version=1630587771","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:34502806","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34502806","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:bd42c484b9954438a5a038772be7a308","is_oa":true,"landing_page_url":"https://doaj.org/article/bd42c484b9954438a5a038772be7a308","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 17, p 5913 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/17/5913/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21175913","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 17; Pages: 5913","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8434182","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8434182","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"}],"best_oa_location":{"id":"doi:10.3390/s21175913","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21175913","pdf_url":"https://www.mdpi.com/1424-8220/21/17/5913/pdf?version=1630587771","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":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3197886231.pdf","grobid_xml":"https://content.openalex.org/works/W3197886231.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W2252491","https://openalex.org/W429268824","https://openalex.org/W1993267444","https://openalex.org/W2021294785","https://openalex.org/W2021851106","https://openalex.org/W2029309217","https://openalex.org/W2041094000","https://openalex.org/W2055904838","https://openalex.org/W2094368692","https://openalex.org/W2098171705","https://openalex.org/W2098860918","https://openalex.org/W2099940712","https://openalex.org/W2108136994","https://openalex.org/W2118223742","https://openalex.org/W2126457740","https://openalex.org/W2135532299","https://openalex.org/W2137504719","https://openalex.org/W2147536420","https://openalex.org/W2157786633","https://openalex.org/W2509493982","https://openalex.org/W2606894526","https://openalex.org/W2745859992","https://openalex.org/W2767286966","https://openalex.org/W2789948808","https://openalex.org/W2793560929","https://openalex.org/W2968190521","https://openalex.org/W3092198095","https://openalex.org/W3129448911","https://openalex.org/W3158604288","https://openalex.org/W6601185777","https://openalex.org/W6687353507"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W2995498265","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/W4313886815","https://openalex.org/W2773722138"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,75,115,120],"practical":[4],"yet":[5],"effective":[6],"solution":[7],"for":[8],"integrating":[9],"an":[10,14,51,86,139],"RGB-D":[11,58,129],"camera":[12],"and":[13,34,48,149],"inertial":[15,66,105,136],"sensor":[16],"to":[17,29,126],"handle":[18],"the":[19,30,42,57,65,68,79,101,104,128,147,158,163],"depth":[20,38,116],"dropouts":[21],"that":[22],"frequently":[23],"happen":[24],"in":[25,84,89,103,138],"outdoor":[26,150],"environments,":[27,151],"due":[28],"short":[31],"detection":[32],"range":[33],"sunlight":[35],"interference.":[36],"In":[37],"drop":[39],"conditions,":[40],"only":[41],"partial":[43],"5-degrees-of-freedom":[44],"pose":[45],"information":[46],"(attitude":[47],"position":[49,71],"with":[50,64,135],"unknown":[52],"scale)":[53],"is":[54,72,118,124,132],"available":[55],"from":[56,146],"sensor.":[59],"To":[60],"enable":[61],"continuous":[62],"fusion":[63],"solutions,":[67],"scale":[69],"ambiguous":[70],"cast":[73],"into":[74],"directional":[76],"constraint":[77,88],"of":[78,162],"vehicle":[80],"motion,":[81],"which":[82,131],"is,":[83],"essence,":[85],"epipolar":[87],"multi-view":[90],"geometry.":[91],"Unlike":[92],"other":[93],"visual":[94],"navigation":[95,160],"approaches,":[96],"this":[97],"can":[98],"effectively":[99],"reduce":[100],"drift":[102],"solutions":[106],"without":[107],"delay":[108],"or":[109],"under":[110],"small":[111],"parallax":[112],"motion.":[113],"If":[114],"image":[117],"available,":[119],"window-based":[121],"feature":[122],"map":[123],"maintained":[125],"compute":[127],"odometry,":[130],"then":[133],"fused":[134],"outputs":[137],"extended":[140],"Kalman":[141],"filter":[142],"framework.":[143],"Flight":[144],"results":[145],"indoor":[148],"as":[152,154],"well":[153],"public":[155],"datasets,":[156],"demonstrate":[157],"improved":[159],"performance":[161],"proposed":[164],"approach.":[165]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}