{"id":"https://openalex.org/W4312195504","doi":"https://doi.org/10.3390/s22249873","title":"A Benchmark Comparison of Four Off-the-Shelf Proprietary Visual\u2013Inertial Odometry Systems","display_name":"A Benchmark Comparison of Four Off-the-Shelf Proprietary Visual\u2013Inertial Odometry Systems","publication_year":2022,"publication_date":"2022-12-15","ids":{"openalex":"https://openalex.org/W4312195504","doi":"https://doi.org/10.3390/s22249873","pmid":"https://pubmed.ncbi.nlm.nih.gov/36560242"},"language":"en","primary_location":{"id":"doi:10.3390/s22249873","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22249873","pdf_url":"https://www.mdpi.com/1424-8220/22/24/9873/pdf?version=1671149594","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/1424-8220/22/24/9873/pdf?version=1671149594","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068710825","display_name":"Pyojin Kim","orcid":"https://orcid.org/0000-0002-5605-8848"},"institutions":[{"id":"https://openalex.org/I31766871","display_name":"Sookmyung Women's University","ror":"https://ror.org/00vvvt117","country_code":"KR","type":"education","lineage":["https://openalex.org/I31766871"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Pyojin Kim","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5605-8848","affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085607854","display_name":"Jungha Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I31766871","display_name":"Sookmyung Women's University","ror":"https://ror.org/00vvvt117","country_code":"KR","type":"education","lineage":["https://openalex.org/I31766871"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungha Kim","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061081983","display_name":"Minkyeong Song","orcid":null},"institutions":[{"id":"https://openalex.org/I31766871","display_name":"Sookmyung Women's University","ror":"https://ror.org/00vvvt117","country_code":"KR","type":"education","lineage":["https://openalex.org/I31766871"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minkyeong Song","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002459818","display_name":"Yeoeun Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I31766871","display_name":"Sookmyung Women's University","ror":"https://ror.org/00vvvt117","country_code":"KR","type":"education","lineage":["https://openalex.org/I31766871"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeoeun Lee","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087468597","display_name":"Moonkyeong Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I31766871","display_name":"Sookmyung Women's University","ror":"https://ror.org/00vvvt117","country_code":"KR","type":"education","lineage":["https://openalex.org/I31766871"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Moonkyeong Jung","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women\u2019s University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Republic of Korea","institution_ids":["https://openalex.org/I31766871"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086726570","display_name":"Hyeong-Geun Kim","orcid":"https://orcid.org/0000-0001-8492-5876"},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyeong-Geun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Incheon National University, Incheon 22012, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Incheon National University, Incheon 22012, Republic of Korea","institution_ids":["https://openalex.org/I146429904"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5086726570"],"corresponding_institution_ids":["https://openalex.org/I146429904"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":10.1904,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.97499592,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":"24","first_page":"9873","last_page":"9873"},"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":0.9980999827384949,"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":0.9970999956130981,"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/odometry","display_name":"Odometry","score":0.8295345306396484},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7981365323066711},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6980006694793701},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6403073072433472},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6365978121757507},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.621694803237915},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6121926307678223},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5184783339500427},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.46018773317337036},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.45682385563850403},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4375312924385071},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3635846674442291},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.33008241653442383},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16445958614349365},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12792620062828064},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09428086876869202}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8295345306396484},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7981365323066711},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6980006694793701},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6403073072433472},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6365978121757507},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.621694803237915},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6121926307678223},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5184783339500427},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.46018773317337036},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.45682385563850403},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4375312924385071},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3635846674442291},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.33008241653442383},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16445958614349365},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12792620062828064},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09428086876869202},{"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000092682","descriptor_name":"Motion Capture","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000092682","descriptor_name":"Motion Capture","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000092682","descriptor_name":"Motion Capture","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},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019985","descriptor_name":"Benchmarking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22249873","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22249873","pdf_url":"https://www.mdpi.com/1424-8220/22/24/9873/pdf?version=1671149594","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:36560242","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36560242","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:4845749bf71543bb9d8bd51082e46690","is_oa":true,"landing_page_url":"https://doaj.org/article/4845749bf71543bb9d8bd51082e46690","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 22, Iss 24, p 9873 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/24/9873/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22249873","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 22; Issue 24; Pages: 9873","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9785098","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9785098","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/s22249873","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22249873","pdf_url":"https://www.mdpi.com/1424-8220/22/24/9873/pdf?version=1671149594","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":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4312195504.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W2021851106","https://openalex.org/W2026230478","https://openalex.org/W2110794641","https://openalex.org/W2118223742","https://openalex.org/W2216550548","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2482368135","https://openalex.org/W2535547924","https://openalex.org/W2738820790","https://openalex.org/W2745859992","https://openalex.org/W2789410150","https://openalex.org/W2796916234","https://openalex.org/W2883702102","https://openalex.org/W2883923125","https://openalex.org/W2894976583","https://openalex.org/W2942369749","https://openalex.org/W2963388701","https://openalex.org/W2963423603","https://openalex.org/W3010810711","https://openalex.org/W3012527034","https://openalex.org/W3013410780","https://openalex.org/W3043870192","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3129860168","https://openalex.org/W3177198924","https://openalex.org/W3181769911","https://openalex.org/W4230766380","https://openalex.org/W4234008654","https://openalex.org/W6677871018","https://openalex.org/W6711909305"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Commercial":[0],"visual-inertial":[1],"odometry":[2],"(VIO)":[3],"systems":[4,76],"have":[5],"been":[6],"gaining":[7],"attention":[8],"as":[9,149],"cost-effective,":[10],"off-the-shelf,":[11],"six-degree-of-freedom":[12],"(6-DoF)":[13],"ego-motion-tracking":[14],"sensors":[15,112],"for":[16,64,153],"estimating":[17],"accurate":[18,58],"and":[19,57,66,84,94,105,117,126,129],"consistent":[20],"camera":[21],"pose":[22,132],"data,":[23],"in":[24,59,97,113],"addition":[25],"to":[26,29],"their":[27,101],"ability":[28],"operate":[30],"without":[31],"external":[32],"localization":[33],"from":[34,44],"motion":[35],"capture":[36],"or":[37],"global":[38],"positioning":[39,102],"systems.":[40],"It":[41],"is":[42],"unclear":[43],"existing":[45],"results,":[46],"however,":[47],"which":[48,98],"commercial":[49],"VIO":[50,75,111],"platforms":[51],"are":[52],"the":[53,123,130,154],"most":[54,124],"stable,":[55],"consistent,":[56],"terms":[60],"of":[61,91,138],"state":[62],"estimation":[63],"indoor":[65,93,116],"outdoor":[67,95,118],"robotic":[68],"applications.":[69],"We":[70,144],"assessed":[71],"four":[72,109],"popular":[73,110],"proprietary":[74],"(Apple":[77],"ARKit,":[78],"Google":[79],"ARCore,":[80],"Intel":[81],"RealSense":[82],"T265,":[83],"Stereolabs":[85],"ZED":[86],"2)":[87],"through":[88],"a":[89,135,150],"series":[90],"both":[92],"experiments":[96],"we":[99],"showed":[100,122],"stability,":[103],"consistency,":[104],"accuracy.":[106],"After":[107],"evaluating":[108],"challenging":[114],"real-world":[115],"scenarios,":[119],"Apple":[120],"ARKit":[121],"stable":[125],"high":[127],"accuracy/consistency,":[128],"relative":[131],"error":[133,137],"was":[134],"drift":[136],"about":[139],"0.02":[140],"m":[141],"per":[142],"second.":[143],"present":[145],"our":[146],"complete":[147],"results":[148],"benchmark":[151],"comparison":[152],"research":[155],"community.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5}],"updated_date":"2026-06-20T22:02:38.213706","created_date":"2025-10-10T00:00:00"}
