{"id":"https://openalex.org/W7154687301","doi":"https://doi.org/10.48550/arxiv.2604.14545","title":"CT-VIR: Continuous-Time Visual-Inertial-Ranging Fusion for Indoor Localization with Sparse Anchors","display_name":"CT-VIR: Continuous-Time Visual-Inertial-Ranging Fusion for Indoor Localization with Sparse Anchors","publication_year":2026,"publication_date":"2026-04-16","ids":{"openalex":"https://openalex.org/W7154687301","doi":"https://doi.org/10.48550/arxiv.2604.14545"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.14545","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14545","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.14545","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133860468","display_name":"Yu-An Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yu-An","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100425637","display_name":"Li Zhang","orcid":"https://orcid.org/0000-0002-7601-6565"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Li","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8561000227928162,"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":0.8561000227928162,"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":0.08590000122785568,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.012900000438094139,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.829200029373169},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6118999719619751},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5490000247955322},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4212999939918518},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.41760000586509705},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41370001435279846},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4099999964237213},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4092000126838684}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.829200029373169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7135000228881836},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6118999719619751},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5777999758720398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5539000034332275},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5490000247955322},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4212999939918518},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.41760000586509705},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41370001435279846},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4099999964237213},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4092000126838684},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.37790000438690186},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.3723999857902527},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.3474000096321106},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2547000050544739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.14545","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14545","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.14545","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14545","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Visual-inertial":[0],"odometry":[1],"(VIO)":[2],"is":[3,36,126],"widely":[4],"used":[5,103],"for":[6,87],"mobile":[7],"robot":[8],"localization,":[9],"but":[10],"its":[11],"long-term":[12],"accuracy":[13],"degrades":[14],"without":[15],"global":[16],"constraints.":[17],"Incorporating":[18],"ranging":[19,30,100,138],"sensors":[20],"such":[21],"as":[22,142],"ultra-wideband":[23],"(UWB)":[24],"can":[25],"mitigate":[26],"drift;":[27],"however,":[28],"high-accuracy":[29],"usually":[31],"requires":[32],"well-deployed":[33],"anchors,":[34],"which":[35],"difficult":[37,61],"to":[38,62,104,164],"ensure":[39],"in":[40,128,144],"narrow":[41],"or":[42,57],"low-power":[43],"environments.":[44],"Moreover,":[45],"most":[46],"existing":[47],"visual-inertial-ranging":[48],"(VIR)":[49],"fusion":[50,69,89],"methods":[51],"rely":[52],"on":[53,171],"discrete":[54],"time-based":[55],"filtering":[56],"optimization,":[58],"making":[59],"it":[60],"balance":[63],"positioning":[64],"accuracy,":[65],"trajectory":[66,125,168],"consistency,":[67],"and":[68,98,108,115,137,174,180],"efficiency":[70],"under":[71],"asynchronous":[72],"multi-sensor":[73],"sampling.":[74],"To":[75],"address":[76],"these":[77],"issues,":[78],"we":[79],"propose":[80],"a":[81,132,145,154,166],"spline-based":[82],"continuous-time":[83,167],"state":[84],"estimation":[85,121],"method":[86],"VIR":[88],"localization.":[90],"In":[91,119],"the":[92,120,123,178,184],"preprocessing":[93],"stage,":[94,122],"VIO":[95],"motion":[96],"priors":[97],"UWB":[99],"measurements":[101],"are":[102,140,160],"construct":[105],"virtual":[106],"anchors":[107],"reject":[109],"outliers,":[110],"thereby":[111],"alleviating":[112],"geometric":[113],"degeneration":[114],"improving":[116],"range":[117],"reliability.":[118],"pose":[124],"parameterized":[127],"continuous":[129],"time":[130],"using":[131],"B-spline,":[133],"while":[134],"inertial,":[135],"visual,":[136],"constraints":[139],"formulated":[141],"factors":[143],"sliding-window":[146],"graph.":[147],"The":[148],"spline":[149],"control":[150],"points,":[151],"together":[152],"with":[153],"small":[155],"set":[156],"of":[157,183],"auxiliary":[158],"parameters,":[159],"then":[161],"jointly":[162],"optimized":[163],"obtain":[165],"estimate.":[169],"Evaluations":[170],"public":[172],"datasets":[173],"real-world":[175],"experiments":[176],"demonstrate":[177],"effectiveness":[179],"practical":[181],"potential":[182],"proposed":[185],"approach.":[186]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-18T00:00:00"}