Get quick answers to your questions about the article from our AI researcher chatbot
{'id': 'https://openalex.org/W4206790194', 'doi': 'https://doi.org/10.1109/lra.2022.3143290', 'title': 'Extrinsic Calibration of Multiple Inertial Sensors From Arbitrary Trajectories', 'display_name': 'Extrinsic Calibration of Multiple Inertial Sensors From Arbitrary Trajectories', 'publication_year': 2022, 'publication_date': '2022-01-14', 'ids': {'openalex': 'https://openalex.org/W4206790194', 'doi': 'https://doi.org/10.1109/lra.2022.3143290'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/lra.2022.3143290', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S4210169774', 'display_name': 'IEEE Robotics and Automation Letters', 'issn_l': '2377-3766', 'issn': ['2377-3766'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'article', 'type_crossref': 'journal-article', 'indexed_in': ['arxiv', 'crossref', 'datacite'], 'open_access': {'is_oa': True, 'oa_status': 'green', 'oa_url': 'http://arxiv.org/pdf/2205.14724', 'any_repository_has_fulltext': True}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5085904275', 'display_name': 'Jongwon Lee', 'orcid': 'https://orcid.org/0000-0002-9900-4532'}, 'institutions': [{'id': 'https://openalex.org/I157725225', 'display_name': 'University of Illinois Urbana-Champaign', 'ror': 'https://ror.org/047426m28', 'country_code': 'US', 'type': 'education', 'lineage': ['https://openalex.org/I157725225']}], 'countries': ['US'], 'is_corresponding': False, 'raw_author_name': 'Jongwon Lee', 'raw_affiliation_strings': ['Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA'], 'affiliations': [{'raw_affiliation_string': 'Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA', 'institution_ids': ['https://openalex.org/I157725225']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5001275159', 'display_name': 'David Hanley', 'orcid': 'https://orcid.org/0000-0001-6648-8246'}, 'institutions': [{'id': 'https://openalex.org/I157725225', 'display_name': 'University of Illinois Urbana-Champaign', 'ror': 'https://ror.org/047426m28', 'country_code': 'US', 'type': 'education', 'lineage': ['https://openalex.org/I157725225']}], 'countries': ['US'], 'is_corresponding': False, 'raw_author_name': 'David Hanley', 'raw_affiliation_strings': ['Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA'], 'affiliations': [{'raw_affiliation_string': 'Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA', 'institution_ids': ['https://openalex.org/I157725225']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5090037830', 'display_name': 'Timothy Bretl', 'orcid': 'https://orcid.org/0000-0001-7883-7300'}, 'institutions': [{'id': 'https://openalex.org/I157725225', 'display_name': 'University of Illinois Urbana-Champaign', 'ror': 'https://ror.org/047426m28', 'country_code': 'US', 'type': 'education', 'lineage': ['https://openalex.org/I157725225']}], 'countries': ['US'], 'is_corresponding': False, 'raw_author_name': 'Timothy Bretl', 'raw_affiliation_strings': ['Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA'], 'affiliations': [{'raw_affiliation_string': 'Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA', 'institution_ids': ['https://openalex.org/I157725225']}]}], 'institution_assertions': [], 'countries_distinct_count': 1, 'institutions_distinct_count': 1, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': 2.514, 'has_fulltext': True, 'fulltext_origin': 'pdf', 'cited_by_count': 13, 'citation_normalized_percentile': {'value': 0.999941, 'is_in_top_1_percent': True, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 93, 'max': 94}, 'biblio': {'volume': '7', 'issue': '2', 'first_page': '2055', 'last_page': '2062'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T11325', 'display_name': 'Inertial Sensor and Navigation', '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/T11325', 'display_name': 'Inertial Sensor and Navigation', '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/T10191', 'display_name': 'Robotics and Sensor-Based Localization', 'score': 0.995, '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/T11405', 'display_name': 'Geophysics and Gravity Measurements', 'score': 0.9934, 'subfield': {'id': 'https://openalex.org/subfields/1910', 'display_name': 'Oceanography'}, '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': [], 'concepts': [{'id': 'https://openalex.org/C165838908', 'wikidata': 'https://www.wikidata.org/wiki/Q736777', 'display_name': 'Calibration', 'level': 2, 'score': 0.66180503}, {'id': 'https://openalex.org/C173386949', 'wikidata': 'https://www.wikidata.org/wiki/Q192735', 'display_name': 'Inertial frame of reference', 'level': 2, 'score': 0.6290815}, {'id': 'https://openalex.org/C79061980', 'wikidata': 'https://www.wikidata.org/wiki/Q941680', 'display_name': 'Inertial measurement unit', 'level': 2, 'score': 0.48835227}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.40338507}, {'id': 'https://openalex.org/C13280743', 'wikidata': 'https://www.wikidata.org/wiki/Q131089', 'display_name': 'Geodesy', 'level': 1, 'score': 0.35466248}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.29964027}, {'id': 'https://openalex.org/C33923547', 'wikidata': 'https://www.wikidata.org/wiki/Q395', 'display_name': 'Mathematics', 'level': 0, 'score': 0.2822132}, {'id': 'https://openalex.org/C121332964', 'wikidata': 'https://www.wikidata.org/wiki/Q413', 'display_name': 'Physics', 'level': 0, 'score': 0.22881925}, {'id': 'https://openalex.org/C127313418', 'wikidata': 'https://www.wikidata.org/wiki/Q1069', 'display_name': 'Geology', 'level': 0, 'score': 0.22642243}, {'id': 'https://openalex.org/C74650414', 'wikidata': 'https://www.wikidata.org/wiki/Q11397', 'display_name': 'Classical mechanics', 'level': 1, 'score': 0.13652396}, {'id': 'https://openalex.org/C105795698', 'wikidata': 'https://www.wikidata.org/wiki/Q12483', 'display_name': 'Statistics', 'level': 1, 'score': 0.08520752}], 'mesh': [], 'locations_count': 4, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/lra.2022.3143290', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S4210169774', 'display_name': 'IEEE Robotics and Automation Letters', 'issn_l': '2377-3766', 'issn': ['2377-3766'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, {'is_oa': True, 'landing_page_url': 'http://arxiv.org/abs/2205.14724', 'pdf_url': 'http://arxiv.org/pdf/2205.14724', 'source': {'id': 'https://openalex.org/S4306400194', 'display_name': 'arXiv (Cornell University)', 'issn_l': None, 'issn': None, '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': ['Cornell University'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'submittedVersion', 'is_accepted': False, 'is_published': False}, {'is_oa': True, 'landing_page_url': 'https://arxiv.org/abs/2205.14724', 'pdf_url': 'https://arxiv.org/pdf/2205.14724', 'source': {'id': 'https://openalex.org/S4306400194', 'display_name': 'arXiv (Cornell University)', 'issn_l': None, 'issn': None, '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': ['Cornell University'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'submittedVersion', 'is_accepted': False, 'is_published': False}, {'is_oa': False, 'landing_page_url': 'https://api.datacite.org/dois/10.48550/arxiv.2205.14724', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S4393179698', 'display_name': 'DataCite API', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I4210145204', 'host_organization_name': 'DataCite', 'host_organization_lineage': ['https://openalex.org/I4210145204'], 'host_organization_lineage_names': ['DataCite'], 'type': 'metadata'}, 'license': None, 'license_id': None, 'version': None}], 'best_oa_location': {'is_oa': True, 'landing_page_url': 'http://arxiv.org/abs/2205.14724', 'pdf_url': 'http://arxiv.org/pdf/2205.14724', 'source': {'id': 'https://openalex.org/S4306400194', 'display_name': 'arXiv (Cornell University)', 'issn_l': None, 'issn': None, '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': ['Cornell University'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'submittedVersion', 'is_accepted': False, 'is_published': False}, 'sustainable_development_goals': [], 'grants': [{'funder': 'https://openalex.org/F4320306101', 'funder_display_name': 'National Aeronautics and Space Administration', 'award_id': 'STTR-80NSSC20C0020'}], 'datasets': [], 'versions': ['https://openalex.org/W4206790194'], 'referenced_works_count': 33, 'referenced_works': ['https://openalex.org/W1974684689', 'https://openalex.org/W1984239963', 'https://openalex.org/W1998058414', 'https://openalex.org/W2021503353', 'https://openalex.org/W2035299448', 'https://openalex.org/W2041767515', 'https://openalex.org/W2068505620', 'https://openalex.org/W2069176397', 'https://openalex.org/W2071460633', 'https://openalex.org/W2073614333', 'https://openalex.org/W2086971604', 'https://openalex.org/W2125501610', 'https://openalex.org/W2131420149', 'https://openalex.org/W2140924050', 'https://openalex.org/W2147536420', 'https://openalex.org/W2337486992', 'https://openalex.org/W2340525930', 'https://openalex.org/W2418849765', 'https://openalex.org/W2491783527', 'https://openalex.org/W2606904518', 'https://openalex.org/W2624987753', 'https://openalex.org/W2774406928', 'https://openalex.org/W2797395780', 'https://openalex.org/W2891590300', 'https://openalex.org/W2910261328', 'https://openalex.org/W2968398091', 'https://openalex.org/W3001698620', 'https://openalex.org/W3004378452', 'https://openalex.org/W3013187008', 'https://openalex.org/W3091667825', 'https://openalex.org/W3098486636', 'https://openalex.org/W3106861319', 'https://openalex.org/W3134432446'], 'related_works': ['https://openalex.org/W9839718', 'https://openalex.org/W4391375266', 'https://openalex.org/W4287122200', 'https://openalex.org/W3110613631', 'https://openalex.org/W2756332284', 'https://openalex.org/W2748952813', 'https://openalex.org/W2382856674', 'https://openalex.org/W2372609347', 'https://openalex.org/W2225378543', 'https://openalex.org/W2091018038'], 'abstract_inverted_index': {'We': [0, 61, 116], 'present': [1], 'a': [2, 8, 25, 48, 110, 113], 'method': [3, 43, 64, 95, 124], 'of': [4, 10, 21, 59, 85, 109, 122, 131], 'extrinsic': [5], 'calibration': [6], 'for': [7], 'system': [9], 'multiple': [11], 'inertial': [12], 'measurement': [13], 'units': [14], '(IMUs)': [15], 'that': [16, 52, 77, 96, 119], 'estimates': [17], 'the': [18, 32, 36, 40, 82, 107, 120, 129], 'relative': [19], 'pose': [20], 'each': [22], 'IMU': [23, 102, 135], 'on': [24, 46, 101], 'rigid': [26], 'body': [27], 'using': [28], 'only': [29, 100], 'measurements': [30, 56, 103, 136], 'from': [31, 57], 'IMUs': [33], 'themselves,': [34], 'without': [35], 'need': [37], 'to': [38, 128], 'prescribe': [39], 'trajectory.': [41], 'Our': [42], 'is': [44, 125], 'based': [45], 'solving': [47], 'nonlinear': [49], 'least-squares': [50], 'problem': [51], 'penalizes': [53], 'inconsistency': [54], 'between': [55], 'pairs': [58], 'IMUs.': [60], 'validate': [62], 'our': [63, 123], 'with': [65], 'experiments': [66], 'both': [67], 'in': [68, 71], 'simulation': [69], 'and': [70, 89, 104, 112], 'hardware.': [72], 'In': [73], 'particular,': [74], 'we': [75], 'show': [76, 118], 'it': [78], 'meets': [79], 'or': [80], 'exceeds': [81], 'performance—in': [83], 'terms': [84], 'error,': [86], 'success': [87], 'rate,': [88], 'computation': [90], 'time—of': [91], 'an': [92], 'existing,': [93], 'state-of-the-art': [94], 'does': [97], 'not': [98], 'rely': [99], 'instead': [105], 'requires': [106], 'use': [108], 'camera': [111], 'fiducial': [114], 'marker.': [115], 'also': [117], 'performance': [121], 'largely': [126], 'insensitive': [127], 'choice': [130], 'trajectory': [132], 'along': [133], 'which': [134], 'are': [137], 'collected.': [138]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W4206790194', 'counts_by_year': [{'year': 2024, 'cited_by_count': 7}, {'year': 2023, 'cited_by_count': 4}, {'year': 2022, 'cited_by_count': 2}], 'updated_date': '2024-12-31T06:09:34.766945', 'created_date': '2022-01-25'}