[{"data":1,"prerenderedAt":489},["ShallowReactive",2],{"method-viralfusion2022":3},{"method":4,"reference":56,"equipment":81,"figures":128,"results":129},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":23,"limitations":27,"sensors":33,"platform":38,"estimator":40,"association":41,"timeModel":42,"deskew":43,"loopClosure":44,"globalOptimization":45,"mapRepresentation":46,"prior":47,"outputGeometry":48,"compute":49,"codeUrl":50,"codeLicense":50,"relatedVersions":51},"viralfusion2022","Nguyen et al., 2022b","VIRAL-Fusion","VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach",2022,"recent","C07","odometry_with_local_mapping","VIRAL-Fusion 以滑動視窗最佳化融合三類觀測：IMU 預積分、UWB 測距，以及機上既有自我定位系統（如 VINS-Fusion 與 A-LOAM）輸出的相鄰位姿變化量。UWB 測距模型同時考慮天線相對機體中心的偏移與量測時刻落在兩個狀態之間的時間差，因此能約束姿態與速度。由於 UWB 錨點在現場先行自我定位並定義場址座標系，估測結果不隨時間累積漂移，也不需要迴圈閉合。","Sliding-window optimization that fuses IMU preintegration, body-offset UWB ranges with explicit temporal offsets, and pose displacements from existing onboard self-localization systems (VIO and LiDAR odometry), so that anchor ranging bounds drift in a site-fixed frame without loop closure.","full_text_reviewed","peer_reviewed_published","supplementary","現地測試是無人機在平行於待檢測垂直結構物的平面內飛行，模擬環境則是室內大廳；三個 UWB 錨點可在 10 至 15 分鐘內布設到 60 m 以上範圍並自動定位，同時定義朝向結構物的場址座標系。這與施工現場需要固定座標系、重複巡檢或分段作業的需求相近（推論）。不過本文只評估軌跡，沒有點雲或地圖精度；作者也指出錨點幾何與高度會影響精度，實際工地的遮蔽與布設限制並未驗證。",[20,21,22],"public_benchmark","simulation","independent_reference",[24,25,26],"[\"On EuRoC V1\u002FV2 with simulated UWB, positional RMSE is lower than VINS-Fusion and ORB-SLAM3 with loop closure and bundle adjustment on all six sequences (Table II)\", \"Fusing OSL data improves both position and rotation over the UWB-IMU-only variant (Tables II, III, IV, VI, VII)\", \"In three field inspection flights with Leica MS60 ground truth, translational RMSE 0.1593, 0.3334 and 0.1745 m versus 0.40 to 14.27 m for single LOAM or VINS-Fusion estimates (Table VI)\", \"An earlier UWB-VIO method could not run on the body-offset ranging setup, while VIRAL handled it (Sec. VI-A1","Remark 2)\", \"Anchor network of three anchors can be deployed and self-localized on site before flight (Sec. IV-B","Fig. 11)\"]",[28,29,30,31,32],"Requires UWB anchors to be deployed and surveyed or self-localized on site; accuracy depends on anchor geometry","Rotational RMSE on EuRoC is not always lower than ORB-SLAM3 with bundle adjustment (Table III)","LiDAR and camera information enter only through OSL pose displacements, so no map is optimized","Orientation ground truth in field tests is the onboard AHRS rather than an external system (Sec. VI-C)","Field positional error is larger than in EuRoC and AirSim, attributed to anchor self-localization error, cable-induced range bias and an obtuse three-anchor geometry (Sec. VI-C; Remark 4)",[34,35,36,37],"[\"IMU (VectorNav VN-100, per footnote link)\", \"body-offset UWB ranging (Humatics P440, per footnote link","two UAV nodes with two antennae each and three or four anchors)\", \"camera system (footnote links the ueye_cam driver","used through VINS-Fusion odometry)\", \"two LiDARs (Ouster OS1, per footnote link","horizontal and vertical, used through A-LOAM odometry)\"]",[39],"[\"UAV in field flight tests (airframe type not stated in the version of record)\", \"simulated UAV in AirSim (Building_99)\", \"EuRoC MAV sequences with simulated UWB\"]","sliding-window nonlinear least squares in Ceres over orientation, position, velocity and IMU biases; cost combines UWB body-offset range factors, IMU preintegration factors and pose-displacement factors from one or more onboard self-localization (OSL) systems such as VIO or LiDAR odometry (Sec. IV-A, Eq. 31; Sec. V)","loosely coupled at the OSL level: the relative pose change reported by each OSL system between two time steps is used as an observation (Sec. V-A); UWB ranges are checked by SNR, leading-edge quality, rate of change and an IMU-predicted range test before use (Sec. IV-B)","discrete time steps independent of sensor timing; IMU and OSL samples are interpolated at step boundaries and each UWB range keeps its time offset within the step, with orientation and velocity interpolated at that offset in the range model (Sec. IV-B, V-C, Eq. 85)","not described in the fusion method; LiDAR data enter only through the A-LOAM odometry estimates","no; drift is bounded by ranging to fixed UWB anchors instead of loop closure","none beyond the sliding window; global consistency comes from the anchor-defined world frame","UWB anchor positions in a site frame from anchor self-localization; no dense map is built by the fusion","UWB anchor positions estimated on site by an anchor self-localization step before flight (three anchors at 1 m height; anchor 0 as origin, x axis toward anchor 1, y axis toward the inspected structure) (Sec. IV-B, VI-C; Table V); fixed sensor extrinsics","UAV pose and velocity in the anchor-defined world frame at the optimization rate plus IMU-propagated high-rate pose","ROS and Ceres implementation; optimization time per step shown in Fig. 16; the VoR does not name the onboard computer (the arXiv v1 manuscript mentions a small form-factor PC with an Intel i7-8650U)",null,[52],{"relation":53,"title":54,"doi_or_url":55},"preprint","VIRAL-Fusion arXiv v1 (earlier manuscript; author order, tables and experiments differ from the version of record)","https:\u002F\u002Farxiv.org\u002Fabs\u002F2010.12274",{"id":5,"kind":57,"shortName":7,"title":8,"authors":58,"year":9,"venue":65,"venueType":66,"publisher":67,"volumeIssuePages":68,"doi":69,"arxivId":70,"url":71,"firstPublicDate":72,"publicationStatus":16,"metadataStatus":73,"fulltextStatus":15,"era":10,"classicReason":74,"codeUrl":50,"cluster":11,"topics":75,"mdpi":76,"verification":77,"label":6,"fulltextRoute":78,"versionRead":79,"addedByCensus":80},"method",[59,60,61,62,63,64],"Thien-Minh Nguyen","Muqing Cao","Shenghai Yuan","Yang Lyu","Thien Hoang Nguyen","Lihua Xie","IEEE Transactions on Robotics","journal","IEEE","38(2), pp. 958-977","10.1109\u002Ftro.2021.3094157","2010.12274","https:\u002F\u002Fdoi.org\u002F10.1109\u002FTRO.2021.3094157","2020-10-23","metadata_verified","not_applicable",[11],false,"corrected","NTU institutional (Chrome)","IEEE version of record (T-RO, HTML through NTU access; all sections I-VII and Tables II-VII images); arXiv v1 (2020-10-23) consulted as an earlier manuscript",true,[82,90,95,99,104,110,115,122,125],{"category":83,"model":84,"canonical":85,"role":86,"dataset":87,"specs":88,"locator":89},"imu","VN-100","VN100","method input","VIRAL field flight tests (authors)","IMU on the flight platform (VoR footnote)","Sec. VI-C; Fig. 10",{"category":91,"model":92,"canonical":92,"role":86,"dataset":87,"specs":93,"locator":94},"uwb","P440","UWB ranging nodes; two UAV nodes with two antennae each; three anchors in field tests","Sec. VI-C; Figs. 10-11",{"category":96,"model":97,"canonical":97,"role":86,"dataset":87,"specs":98,"locator":89},"lidar","OS1 (two units)","one horizontal and one vertical LiDAR, each processed by A-LOAM as an OSL input",{"category":100,"model":101,"canonical":101,"role":86,"dataset":87,"specs":102,"locator":103},"camera","camera system (footnote links the ueye_cam ROS driver)","camera system processed by VINS-Fusion as an OSL input; stereo configuration not stated for the field platform","Sec. VI-C; footnote",{"category":105,"model":106,"canonical":106,"role":107,"dataset":87,"specs":108,"locator":109},"total_station","Leica MS60","reference or ground truth","millimeter-level accuracy; position ground truth for the flight tests","Sec. VI-C",{"category":91,"model":111,"canonical":111,"role":86,"dataset":112,"specs":113,"locator":114},"simulated UWB network (ranges generated from Vicon data)","EuRoC MAV (simulated UWB)","4 anchors at (3,3,3), (3,-3,0.5), (-3,-3,3), (-3,3,0.5) m; 2 UAV nodes with 2 antennae; 80 Hz; 0.05 m noise","Sec. VI-A1",{"category":116,"model":117,"canonical":117,"role":118,"dataset":119,"specs":120,"locator":121},"other","AirSim (Building_99 environment)","dataset sensor","AirSim Building_99 (authors' simulation)","simulated sensors: 10 Hz stereo camera, two 10 Hz LiDARs, 400 Hz IMU, two UWB nodes with two antennae each, four anchors at 11 m height","Sec. VI-B",{"category":116,"model":123,"canonical":123,"role":107,"dataset":112,"specs":124,"locator":114},"VICON motion capture (EuRoC ground truth)","position and orientation ground truth of the EuRoC V1 and V2 sequences; also used to generate the simulated UWB ranges",{"category":116,"model":126,"canonical":126,"role":107,"dataset":87,"specs":127,"locator":109},"onboard attitude and heading reference system (AHRS) of the drone (model not reported)","fuses magnetometer measurements; used as orientation ground truth for Table VII because the Leica station gives no orientation",[],{"totalRows":130,"groupCount":131,"groups":132,"others":483},54,5,[133,311,371,420],{"slug":134,"group":135,"sourceId":5,"sourceLabel":6,"table":136,"selfRows":137,"metrics":138,"seqs":150,"entrants":158,"cells":176,"outcomes":303,"locators":305,"hardware":307,"wordings":308,"notes":309},"viralfusion2022-table-iv","viralfusion2022:Table IV","Table IV",18,[139,144,147],{"label":140,"unit":141,"statistic":142,"alignment":143},"Translational RMSE [m]","m","RMSE","not_reported",{"label":145,"unit":146,"statistic":142,"alignment":143},"Rotational RMSE [deg]","deg",{"label":148,"unit":149,"statistic":142,"alignment":143},"Velocity RMSE [m\u002Fs]","m\u002Fs",[151,154,156],{"dataset":119,"sequence":152,"environment":153},"Test 01","simulated indoor foyer",{"dataset":119,"sequence":155,"environment":153},"Test 02",{"dataset":119,"sequence":157,"environment":153},"Test 03",[159,162,164,167,169,172,174],{"name":160,"methodId":161,"linkable":80,"proposed":76,"self":76},"Vertical LOAM","aloam_software",{"name":163,"methodId":161,"linkable":80,"proposed":76,"self":76},"Horizontal LOAM",{"name":165,"methodId":166,"linkable":80,"proposed":76,"self":76},"VINS (w\u002Fo BA)","vinsfusion2019",{"name":168,"methodId":166,"linkable":80,"proposed":76,"self":76},"VINS (with BA)",{"name":170,"methodId":171,"linkable":80,"proposed":76,"self":76},"ORB-SLAM3","orbslam3_2021",{"name":173,"methodId":5,"linkable":80,"proposed":80,"self":80},"VIRAL (w\u002Fo OSL)",{"name":175,"methodId":5,"linkable":80,"proposed":80,"self":80},"VIRAL (with OSL)",[177,181,184,187,189,191,193,195,197,199,201,203,205,207,209,211,213,215,217,219,221,223,225,227,229,231,233,235,238,240,241,243,245,246,248,250,251,254,256,257,259,261,262,264,266,267,269,271,273,275,277,279,281,283,285,287,289,291,293,295,297,299,301],[178,178,178,179,180,178,180,180,178],0,0.2047,-1,[178,182,178,183,180,178,180,180,178],1,1.7509,[178,185,178,186,180,178,180,180,178],2,0.418,[178,178,182,188,180,178,180,180,178],2.338,[178,182,182,190,180,178,180,180,178],11.6712,[178,185,182,192,180,178,180,180,178],0.5221,[178,178,185,194,180,178,180,180,178],0.325,[178,182,185,196,180,178,180,180,178],1.5819,[178,185,185,198,180,178,180,180,178],0.8568,[182,178,178,200,180,178,180,180,178],0.1089,[182,182,178,202,180,178,180,180,178],0.9789,[182,185,178,204,180,178,180,180,178],0.4181,[182,178,182,206,180,178,180,180,178],0.4654,[182,182,182,208,180,178,180,180,178],1.4964,[182,185,182,210,180,178,180,180,178],0.522,[182,178,185,212,180,178,180,180,178],0.3225,[182,182,185,214,180,178,180,180,178],1.5874,[182,185,185,216,180,178,180,180,178],0.8566,[185,178,178,218,180,178,180,180,178],0.4709,[185,182,178,220,180,178,180,180,178],4.0659,[185,185,178,222,180,178,180,180,178],0.0306,[185,178,182,224,180,178,180,180,178],0.7657,[185,182,182,226,180,178,180,180,178],5.4876,[185,185,182,228,180,178,180,180,178],0.0497,[185,178,185,230,180,178,180,180,178],0.3454,[185,182,185,232,180,178,180,180,178],2.8387,[185,185,185,234,180,178,180,180,178],0.0214,[236,178,178,237,180,178,180,180,178],3,0.0942,[236,182,178,239,180,178,180,180,178],1.7009,[236,185,178,50,178,178,180,180,178],[236,178,182,242,180,178,180,180,178],0.6365,[236,182,182,244,180,178,180,180,178],4.1799,[236,185,182,50,178,178,180,180,178],[236,178,185,247,180,178,180,180,178],0.2149,[236,182,185,249,180,178,180,180,178],1.2016,[236,185,185,50,178,178,180,180,178],[252,178,178,253,180,178,180,180,178],4,0.1275,[252,182,178,255,180,178,180,180,178],0.1797,[252,185,178,50,178,178,180,180,178],[252,178,182,258,180,178,180,180,178],0.1565,[252,182,182,260,180,178,180,180,178],0.245,[252,185,182,50,178,178,180,180,178],[252,178,185,263,180,178,180,180,178],0.0278,[252,182,185,265,180,178,180,180,178],0.0503,[252,185,185,50,178,178,180,180,178],[131,178,178,268,180,178,180,180,178],0.0518,[131,182,178,270,180,178,180,180,178],0.8338,[131,185,178,272,180,178,180,180,178],0.056,[131,178,182,274,180,178,180,180,178],0.0641,[131,182,182,276,180,178,180,180,178],0.8093,[131,185,182,278,180,178,180,180,178],0.0536,[131,178,185,280,180,178,180,180,178],0.0963,[131,182,185,282,180,178,180,180,178],0.8918,[131,185,185,284,180,178,180,180,178],0.0673,[286,178,178,268,180,178,180,180,178],6,[286,182,178,288,180,178,180,180,178],0.8336,[286,185,178,290,180,178,180,180,178],0.0433,[286,178,182,292,180,178,180,180,178],0.0583,[286,182,182,294,180,178,180,180,178],0.7592,[286,185,182,296,180,178,180,180,178],0.0438,[286,178,185,298,180,178,180,180,178],0.0943,[286,182,185,300,180,178,180,180,178],0.7194,[286,185,185,302,180,178,180,180,178],0.0639,[304],"not_reported ('-': the method does not estimate velocity in the optimization)",[306],"Table IV; Sec. VI-B",[],[],[310],"AirSim Building_99 indoor foyer simulation: 10 Hz stereo, two 10 Hz LiDARs (horizontal and vertical, A-LOAM), 400 Hz IMU, two UWB nodes with two antennae each and four ceiling anchors at 11 m; three simulated flights",{"slug":312,"group":313,"sourceId":5,"sourceLabel":6,"table":314,"selfRows":315,"metrics":316,"seqs":320,"entrants":334,"cells":339,"outcomes":364,"locators":365,"hardware":367,"wordings":368,"notes":369},"viralfusion2022-table-ii","viralfusion2022:Table II","Table II",12,[317],{"label":318,"unit":141,"statistic":142,"alignment":319},"Translational RMSE","none",[321,324,326,328,330,332],{"dataset":112,"sequence":322,"environment":323},"V1_01","indoor Vicon room",{"dataset":112,"sequence":325,"environment":323},"V1_02",{"dataset":112,"sequence":327,"environment":323},"V1_03",{"dataset":112,"sequence":329,"environment":323},"V2_01",{"dataset":112,"sequence":331,"environment":323},"V2_02",{"dataset":112,"sequence":333,"environment":323},"V2_03",[335,337],{"name":336,"methodId":5,"linkable":80,"proposed":80,"self":80},"Ours (w\u002Fo OSL)",{"name":338,"methodId":5,"linkable":80,"proposed":80,"self":80},"Ours",[340,342,344,346,348,350,352,354,356,358,360,362],[178,178,178,341,180,178,180,180,178],0.0764,[178,178,182,343,180,178,180,180,178],0.0695,[178,178,185,345,180,178,180,180,178],0.0572,[178,178,236,347,180,178,180,180,178],0.092,[178,178,252,349,180,178,180,180,178],0.1039,[178,178,131,351,180,178,180,180,178],0.1184,[182,178,178,353,180,178,180,180,178],0.0715,[182,178,182,355,180,178,180,180,178],0.0622,[182,178,185,357,180,178,180,180,178],0.0424,[182,178,236,359,180,178,180,180,178],0.0901,[182,178,252,361,180,178,180,180,178],0.0866,[182,178,131,363,180,178,180,180,178],0.1172,[],[366],"Table II; Sec. VI-A",[],[],[370],"EuRoC Vicon Room V1\u002FV2 with UWB simulated from Vicon (4 anchors, 80 Hz, 0.05 m noise); VINS = VINS-Fusion stereo-inertial, BA = loop closure and global bundle adjustment; VIRAL fuses the VINS-Fusion estimate without BA; OSL baselines aligned by the initial ground-truth pose, VIRAL in the anchor frame; unit m",{"slug":372,"group":373,"sourceId":5,"sourceLabel":6,"table":374,"selfRows":315,"metrics":375,"seqs":378,"entrants":385,"cells":388,"outcomes":413,"locators":414,"hardware":416,"wordings":417,"notes":418},"viralfusion2022-table-iii","viralfusion2022:Table III","Table III",[376],{"label":377,"unit":146,"statistic":142,"alignment":319},"Rotational RMSE",[379,380,381,382,383,384],{"dataset":112,"sequence":322,"environment":323},{"dataset":112,"sequence":325,"environment":323},{"dataset":112,"sequence":327,"environment":323},{"dataset":112,"sequence":329,"environment":323},{"dataset":112,"sequence":331,"environment":323},{"dataset":112,"sequence":333,"environment":323},[386,387],{"name":336,"methodId":5,"linkable":80,"proposed":80,"self":80},{"name":338,"methodId":5,"linkable":80,"proposed":80,"self":80},[389,391,393,395,397,399,401,403,405,407,409,411],[178,178,178,390,180,178,180,180,178],2.4428,[178,178,182,392,180,178,180,180,178],3.1675,[178,178,185,394,180,178,180,180,178],2.1748,[178,178,236,396,180,178,180,180,178],5.681,[178,178,252,398,180,178,180,180,178],10.22,[178,178,131,400,180,178,180,180,178],11.155,[182,178,178,402,180,178,180,180,178],2.3104,[182,178,182,404,180,178,180,180,178],2.5804,[182,178,185,406,180,178,180,180,178],1.9364,[182,178,236,408,180,178,180,180,178],5.7094,[182,178,252,410,180,178,180,180,178],9.6574,[182,178,131,412,180,178,180,180,178],10.4094,[],[415],"Table III; Sec. VI-A",[],[],[419],"EuRoC Vicon Room V1\u002FV2 with UWB simulated from Vicon (4 anchors, 80 Hz, 0.05 m noise); VINS = VINS-Fusion stereo-inertial, BA = loop closure and global bundle adjustment; VIRAL fuses the VINS-Fusion estimate without BA; OSL baselines aligned by the initial ground-truth pose, VIRAL in the anchor frame; unit degrees",{"slug":421,"group":422,"sourceId":5,"sourceLabel":6,"table":423,"selfRows":286,"metrics":424,"seqs":427,"entrants":432,"cells":439,"outcomes":476,"locators":477,"hardware":479,"wordings":480,"notes":481},"viralfusion2022-table-vi","viralfusion2022:Table VI","Table VI",[425],{"label":318,"unit":141,"statistic":142,"alignment":426},"SE3",[428,430,431],{"dataset":87,"sequence":152,"environment":429},"outdoor UAV inspection flights in a vertical plane parallel to a structure",{"dataset":87,"sequence":155,"environment":429},{"dataset":87,"sequence":157,"environment":429},[433,434,435,436,437,438],{"name":160,"methodId":161,"linkable":80,"proposed":76,"self":76},{"name":163,"methodId":161,"linkable":80,"proposed":76,"self":76},{"name":165,"methodId":166,"linkable":80,"proposed":76,"self":76},{"name":168,"methodId":166,"linkable":80,"proposed":76,"self":76},{"name":173,"methodId":5,"linkable":80,"proposed":80,"self":80},{"name":175,"methodId":5,"linkable":80,"proposed":80,"self":80},[440,442,444,446,448,450,452,454,456,458,460,462,464,466,468,470,472,474],[178,178,178,441,180,178,180,180,178],14.2658,[178,178,182,443,180,178,180,180,178],2.6468,[178,178,185,445,180,178,180,180,178],1.8737,[182,178,178,447,180,178,180,180,178],1.594,[182,178,182,449,180,178,180,180,178],5.3467,[182,178,185,451,180,178,180,180,178],2.7375,[185,178,178,453,180,178,180,180,178],1.6231,[185,178,182,455,180,178,180,180,178],0.5258,[185,178,185,457,180,178,180,180,178],0.6136,[236,178,178,459,180,178,180,180,178],1.5915,[236,178,182,461,180,178,180,180,178],0.4017,[236,178,185,463,180,178,180,180,178],0.6022,[252,178,178,465,180,178,180,180,178],0.1951,[252,178,182,467,180,178,180,180,178],0.3697,[252,178,185,469,180,178,180,180,178],0.1937,[131,178,178,471,180,178,180,180,178],0.1593,[131,178,182,473,180,178,180,180,178],0.3334,[131,178,185,475,180,178,180,180,178],0.1745,[],[478],"Table VI; Sec. VI-C",[],[],[482],"Field flight tests (three flights; UAV moving in a vertical plane parallel to the inspected structure) with camera, VN-100 IMU, two Ouster OS1 LiDARs and Humatics P440 UWB with three self-localized anchors at 1 m height; VINS-Fusion and A-LOAM outputs fused as OSL; position ground truth from a Leica MS60 (periods of lost ground truth in datasets 01 and 02 excluded); all estimates aligned to ground truth by a rotation and translation fit [50]; orientation reference from the onboard AHRS; ORB-SLAM3 failed on these datasets and is absent",[484],{"group":485,"slug":486,"sourceLabel":6,"table":487,"selfRows":286,"datasets":488},"viralfusion2022:Table VII","viralfusion2022-table-vii","Table VII",[87],1790510662458]