{"id":"https://openalex.org/W3213227322","doi":"https://doi.org/10.3390/s21227428","title":"An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments","display_name":"An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments","publication_year":2021,"publication_date":"2021-11-09","ids":{"openalex":"https://openalex.org/W3213227322","doi":"https://doi.org/10.3390/s21227428","mag":"3213227322","pmid":"https://pubmed.ncbi.nlm.nih.gov/34833504"},"language":"en","primary_location":{"id":"doi:10.3390/s21227428","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227428","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7428/pdf?version=1636429571","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/1424-8220/21/22/7428/pdf?version=1636429571","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015536619","display_name":"Wennan Chai","orcid":"https://orcid.org/0000-0002-0294-5636"},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wennan Chai","raw_affiliation_strings":["College of Sino-German Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Sino-German Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China","institution_ids":["https://openalex.org/I143413998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323270","display_name":"Chao Li","orcid":"https://orcid.org/0000-0003-2647-0740"},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Li","raw_affiliation_strings":["College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, China"],"raw_orcid":"https://orcid.org/0000-0003-2647-0740","affiliations":[{"raw_affiliation_string":"College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, China","institution_ids":["https://openalex.org/I143413998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405287","display_name":"Mingyue Zhang","orcid":"https://orcid.org/0000-0002-9769-8833"},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyue Zhang","raw_affiliation_strings":["College of Sino-German Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Sino-German Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China","institution_ids":["https://openalex.org/I143413998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011366986","display_name":"Zhen Sun","orcid":"https://orcid.org/0000-0003-0551-3553"},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Sun","raw_affiliation_strings":["College of Information Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China","institution_ids":["https://openalex.org/I143413998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081553700","display_name":"Hao Yuan","orcid":"https://orcid.org/0009-0000-8934-3090"},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Yuan","raw_affiliation_strings":["College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, China","institution_ids":["https://openalex.org/I143413998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052502162","display_name":"Fanyu Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanyu Lin","raw_affiliation_strings":["College of Sino-German Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Sino-German Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China","institution_ids":["https://openalex.org/I143413998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065209039","display_name":"Qingdang Li","orcid":"https://orcid.org/0000-0002-2272-4830"},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qingdang Li","raw_affiliation_strings":["College of Sino-German Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Sino-German Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China","institution_ids":["https://openalex.org/I143413998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5065209039"],"corresponding_institution_ids":["https://openalex.org/I143413998"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":10.9478,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.97687212,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"21","issue":"22","first_page":"7428","last_page":"7428"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9952999949455261,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8325695395469666},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7115827798843384},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7084074020385742},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6683111786842346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5927734375},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5766308903694153},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5593565702438354},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5566707253456116},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5319322347640991},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.5089423656463623},{"id":"https://openalex.org/keywords/inertial-reference-unit","display_name":"Inertial reference unit","score":0.42525485157966614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22158271074295044},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.16061002016067505},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1359725296497345},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08141675591468811}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8325695395469666},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7115827798843384},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7084074020385742},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6683111786842346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5927734375},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5766308903694153},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5593565702438354},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5566707253456116},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5319322347640991},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.5089423656463623},{"id":"https://openalex.org/C189096121","wikidata":"https://www.wikidata.org/wiki/Q6028512","display_name":"Inertial reference unit","level":4,"score":0.42525485157966614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22158271074295044},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.16061002016067505},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1359725296497345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08141675591468811},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[{"descriptor_ui":"D000054","descriptor_name":"Acceleration","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000054","descriptor_name":"Acceleration","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000054","descriptor_name":"Acceleration","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000069636","descriptor_name":"Pedestrians","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069636","descriptor_name":"Pedestrians","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069636","descriptor_name":"Pedestrians","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":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21227428","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227428","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7428/pdf?version=1636429571","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:34833504","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34833504","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:2db2b61448464bec88a7eafb5b5896fc","is_oa":true,"landing_page_url":"https://doaj.org/article/2db2b61448464bec88a7eafb5b5896fc","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 22, p 7428 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/22/7428/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21227428","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 22; Pages: 7428","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8624951","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8624951","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/s21227428","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227428","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7428/pdf?version=1636429571","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":[{"id":"https://metadata.un.org/sdg/11","score":0.5600000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3213227322.pdf","grobid_xml":"https://content.openalex.org/works/W3213227322.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W248267066","https://openalex.org/W612478963","https://openalex.org/W940504041","https://openalex.org/W1498041548","https://openalex.org/W1594652635","https://openalex.org/W1947776890","https://openalex.org/W2010360724","https://openalex.org/W2011224697","https://openalex.org/W2029436146","https://openalex.org/W2033819227","https://openalex.org/W2040789978","https://openalex.org/W2043630212","https://openalex.org/W2091790851","https://openalex.org/W2112510830","https://openalex.org/W2166132830","https://openalex.org/W2214788824","https://openalex.org/W2277848489","https://openalex.org/W2342437324","https://openalex.org/W2430760198","https://openalex.org/W2514344688","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2745859992","https://openalex.org/W2767836407","https://openalex.org/W2783185291","https://openalex.org/W2883923125","https://openalex.org/W2921749009","https://openalex.org/W2950989657","https://openalex.org/W2963887447","https://openalex.org/W2979666388","https://openalex.org/W2989099477","https://openalex.org/W3003740593","https://openalex.org/W3003771980","https://openalex.org/W3008784268","https://openalex.org/W3033353027","https://openalex.org/W3036641799","https://openalex.org/W3080625486","https://openalex.org/W3092218351","https://openalex.org/W3099039688","https://openalex.org/W3102327032","https://openalex.org/W3104386295","https://openalex.org/W3104842437","https://openalex.org/W3130791271","https://openalex.org/W3135331138","https://openalex.org/W3136057766","https://openalex.org/W3146082954","https://openalex.org/W3152003735","https://openalex.org/W3159400523","https://openalex.org/W3166266893","https://openalex.org/W3179987205","https://openalex.org/W3180277944","https://openalex.org/W3183786562","https://openalex.org/W3206741876","https://openalex.org/W4248231771","https://openalex.org/W6657732385","https://openalex.org/W6717775943"],"related_works":["https://openalex.org/W3195533899","https://openalex.org/W2087485917","https://openalex.org/W3011156758","https://openalex.org/W4294113342","https://openalex.org/W2936887342","https://openalex.org/W2773722138","https://openalex.org/W2038183074","https://openalex.org/W2089074378","https://openalex.org/W4313886815","https://openalex.org/W2131486049"],"abstract_inverted_index":{"The":[0,44,96],"visual-inertial":[1,45,85,102,130,203,224],"simultaneous":[2],"localization":[3],"and":[4,34,55,158,170,192],"mapping":[5],"(SLAM)":[6],"is":[7,63,98,122,137],"a":[8,65,79,193],"feasible":[9],"indoor":[10],"positioning":[11,160],"system":[12,114,200],"that":[13,209],"combines":[14],"the":[15,31,35,38,49,61,68,90,101,113,118,125,141,149,154,159,162,167,171,176,188,198,202,206,210,217,222],"visual":[16],"SLAM":[17,46,103,225],"with":[18,201],"inertial":[19,27,39],"navigation.":[20],"There":[21],"are":[22,179,185],"accumulated":[23,218],"drift":[24,50,69,109,115,219],"errors":[25,51,128],"in":[26,129,221],"navigation":[28],"due":[29],"to":[30,111,139,152,196],"state":[32],"propagation":[33],"bias":[36],"of":[37,89,145,183],"measurement":[40,127,147],"unit":[41],"(IMU)":[42],"sensor.":[43],"can":[47,214],"correct":[48,112,216],"via":[52],"loop":[53],"detection":[54],"local":[56,163],"pose":[57],"optimization.":[58],"However,":[59],"if":[60],"trajectory":[62],"not":[64,72],"closed":[66],"loop,":[67],"error":[70,110,220],"might":[71],"be":[73],"significantly":[74],"reduced.":[75],"This":[76],"paper":[77],"presents":[78],"novel":[80],"pedestrian":[81],"dead":[82,133],"reckoning":[83,134],"(PDR)-aided":[84],"SLAM,":[86],"taking":[87],"advantage":[88],"enhanced":[91],"vanishing":[92],"point":[93],"(VP)":[94],"observation.":[95],"VP":[97],"integrated":[99],"into":[100],"as":[104],"an":[105],"external":[106],"observation":[107],"without":[108],"error.":[116],"Additionally,":[117],"estimated":[119],"trajectory's":[120],"scale":[121],"affected":[123],"by":[124],"IMU":[126],"SLAM.":[131,204],"Pedestrian":[132],"(PDR)":[135],"velocity":[136],"employed":[138],"constrain":[140],"double":[142],"integration":[143],"result":[144],"acceleration":[146],"from":[148],"IMU.":[150],"Furthermore,":[151],"enhance":[153],"proposed":[155,199,211,223],"system's":[156],"robustness":[157],"accuracy,":[161],"optimization":[164,173,212],"based":[165,174],"on":[166,175],"sliding":[168],"window":[169,178],"global":[172],"segmentation":[177],"proposed.":[180],"A":[181],"series":[182],"experiments":[184],"conducted":[186],"using":[187],"public":[189],"ADVIO":[190],"dataset":[191,195],"self-collected":[194],"compare":[197],"Finally,":[205],"results":[207],"demonstrate":[208],"method":[213],"effectively":[215],"system.":[226]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}