{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T16:10:24Z","timestamp":1758125424886,"version":"3.41.0"},"reference-count":39,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2021,9,28]],"date-time":"2021-09-28T00:00:00Z","timestamp":1632787200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["62062034, 61663010, 61962022, and 61866012"],"award-info":[{"award-number":["62062034, 61663010, 61962022, and 61866012"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Excellent Scientific and Technological Innovation Teams of Jiangxi Province of China","award":["20181BCB24009"],"award-info":[{"award-number":["20181BCB24009"]}]},{"name":"Natural Science Foundation of Jiangxi Province of China","award":["20181BAB202012"],"award-info":[{"award-number":["20181BAB202012"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Internet Technol."],"published-print":{"date-parts":[[2022,2,28]]},"abstract":"<jats:p>\n            The precise measuring of vehicle location has been a critical task in enhancing the autonomous driving in terms of intelligent decision making and safe transportation.\n            <jats:bold>Internet of Vehicles<\/jats:bold>\n            (\n            <jats:bold>IoV<\/jats:bold>\n            ) is an important infrastructure in support of autonomous driving, allowing real-time road information exchanging and sharing for localizing vehicles.\n            <jats:bold>Global positioning System<\/jats:bold>\n            (\n            <jats:bold>GPS<\/jats:bold>\n            ) is widely used in the traditional IoV system. GPS is unable to meet the key application requirements of autonomous driving due to meter level error and signal deterioration. In this article, we propose a novel solution, named\n            <jats:bold>Semi-Direct Monocular Visual-Inertial Odometry using Point and Line Features<\/jats:bold>\n            (\n            <jats:bold>SDMPL-VIO<\/jats:bold>\n            ) for precise vehicle localization. Our SDMPL-VIO model takes advantage of a low-cost\n            <jats:bold>Inertial Measurement Unit<\/jats:bold>\n            (\n            <jats:bold>IMU<\/jats:bold>\n            ) and monocular camera, using them as the sensor to acquire the surrounding environmental information.\n            <jats:bold>Visual-Inertial Odometry<\/jats:bold>\n            (\n            <jats:bold>VIO<\/jats:bold>\n            ), taking into account both point and line features, is proposed, which is able to deal with both weak texture and dynamic environment. We use a semi-direct method to deal with keyframes and non-keyframes, respectively. Dual sliding window mechanisms can effectively fuse point-line and IMU information. To evaluate our SDMPL-VIO system model, we conduct extensive experiments on both an indoor dataset (i.e., EuRoC) and an outdoor dataset (i.e., KITTI) from the real-world applications, respectively. The experimental results show that the accuracy of SDMPL-VIO proposed by us is better than the mainstream VIO system at present. Especially in the weak texture of the datasets, fast-moving datasets, and other challenging datasets, SDMPL-VIO has a relatively high robustness.\n          <\/jats:p>","DOI":"10.1145\/3432248","type":"journal-article","created":{"date-parts":[[2021,9,28]],"date-time":"2021-09-28T21:27:57Z","timestamp":1632864477000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["Semi-Direct Monocular Visual-Inertial Odometry Using Point and Line Features for IoV"],"prefix":"10.1145","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1712-1872","authenticated-orcid":false,"given":"Nan","family":"Jiang","sequence":"first","affiliation":[{"name":"College of Information Engineering, East China Jiaotong University, Nanchang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Debin","family":"Huang","sequence":"additional","affiliation":[{"name":"College of Information Engineering, East China Jiaotong University, Nanchang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Information Engineering, East China Jiaotong University, Nanchang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Wen","sequence":"additional","affiliation":[{"name":"College of Electrical and Automation Engineering, East China Jiaotong University, Nanchang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Heng","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electronic Information, Shanghai Dianji University, Ganlan, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Honglong","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Control Science and Engineering, China University of Petroleum, Qingdao, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,9,28]]},"reference":[{"doi-asserted-by":"publisher","key":"e_1_2_1_1_1","DOI":"10.1057\/jors.1985.68"},{"doi-asserted-by":"publisher","key":"e_1_2_1_2_1","DOI":"10.1109\/TITS.2014.2376780"},{"doi-asserted-by":"publisher","key":"e_1_2_1_3_1","DOI":"10.1177\/0278364915620033"},{"doi-asserted-by":"publisher","key":"e_1_2_1_4_1","DOI":"10.1109\/ICRA.2016.7487266"},{"doi-asserted-by":"publisher","key":"e_1_2_1_5_1","DOI":"10.1109\/TRO.2016.2597321"},{"doi-asserted-by":"publisher","key":"e_1_2_1_6_1","DOI":"10.1109\/TRO.2016.2623335"},{"doi-asserted-by":"publisher","key":"e_1_2_1_7_1","DOI":"10.1177\/0278364913491297"},{"key":"e_1_2_1_8_1","volume-title":"2016 IEEE International Conference on Robotics and Automation. 2521\u20132526","author":"Gomezojeda Ruben","year":"2016","unstructured":"Ruben Gomezojeda and Javier Gonzalezjimenez . 2016 . Robust stereo visual odometry through a probabilistic combination of points and line segments . In 2016 IEEE International Conference on Robotics and Automation. 2521\u20132526 . Ruben Gomezojeda and Javier Gonzalezjimenez. 2016. Robust stereo visual odometry through a probabilistic combination of points and line segments. In 2016 IEEE International Conference on Robotics and Automation. 2521\u20132526."},{"doi-asserted-by":"publisher","key":"e_1_2_1_9_1","DOI":"10.1109\/ICCVW.2011.6130318"},{"doi-asserted-by":"publisher","key":"e_1_2_1_10_1","DOI":"10.1109\/TITS.2016.2521819"},{"doi-asserted-by":"publisher","key":"e_1_2_1_11_1","DOI":"10.3390\/s18041159"},{"doi-asserted-by":"publisher","key":"e_1_2_1_12_1","DOI":"10.1007\/978-3-319-24947-6_19"},{"doi-asserted-by":"publisher","key":"e_1_2_1_13_1","DOI":"10.1109\/ISMAR.2007.4538852"},{"doi-asserted-by":"publisher","key":"e_1_2_1_14_1","DOI":"10.3390\/s150612816"},{"doi-asserted-by":"publisher","key":"e_1_2_1_15_1","DOI":"10.1177\/0278364914554813"},{"doi-asserted-by":"publisher","key":"e_1_2_1_16_1","DOI":"10.1109\/ACCESS.2019.2916901"},{"doi-asserted-by":"publisher","key":"e_1_2_1_17_1","DOI":"10.1109\/ACCESS.2018.2880689"},{"doi-asserted-by":"publisher","key":"e_1_2_1_18_1","DOI":"10.1109\/TRO.2011.2170332"},{"doi-asserted-by":"publisher","key":"e_1_2_1_19_1","DOI":"10.1109\/TRO.2011.2160468"},{"doi-asserted-by":"publisher","key":"e_1_2_1_20_1","DOI":"10.1016\/j.comcom.2018.02.006"},{"volume-title":"2007 IEEE International Conference on Robotics and Automation. 3565\u20133572","author":"I.","unstructured":"Anastasios\u00a0 I. Mourikis and Stergios\u00a0I. Roumeliotis. 2007. A multi-state constraint Kalman filter for vision-aided inertial navigation . In 2007 IEEE International Conference on Robotics and Automation. 3565\u20133572 . Anastasios\u00a0I. Mourikis and Stergios\u00a0I. Roumeliotis. 2007. A multi-state constraint Kalman filter for vision-aided inertial navigation. In 2007 IEEE International Conference on Robotics and Automation. 3565\u20133572.","key":"e_1_2_1_21_1"},{"key":"e_1_2_1_22_1","first-page":"1255","article-title":"ORB-SLAM2: An open-source SLAM system for monocular, stereo and RGB-D cameras","volume":"99","author":"Mur-Artal Raul","year":"2016","unstructured":"Raul Mur-Artal and Juan\u00a0Domingo Tardos . 2016 . ORB-SLAM2: An open-source SLAM system for monocular, stereo and RGB-D cameras . IEEE Transactions on Robotics PP , 99 (2016), 1255 \u2013 1262 . Raul Mur-Artal and Juan\u00a0Domingo Tardos. 2016. ORB-SLAM2: An open-source SLAM system for monocular, stereo and RGB-D cameras. IEEE Transactions on Robotics PP, 99 (2016), 1255\u20131262.","journal-title":"IEEE Transactions on Robotics PP"},{"doi-asserted-by":"publisher","key":"e_1_2_1_23_1","DOI":"10.1109\/LRA.2017.2653359"},{"doi-asserted-by":"publisher","key":"e_1_2_1_24_1","DOI":"10.1109\/TRO.2015.2463671"},{"key":"e_1_2_1_25_1","volume-title":"Sergio Alberto\u00a0Rodriguez Florez, and Samir Bouaziz","author":"Nguyen Daiduong","year":"2018","unstructured":"Daiduong Nguyen , Abdelhafid Elouardi , Sergio Alberto\u00a0Rodriguez Florez, and Samir Bouaziz . 2018 . HOOFR SLAM System: An embedded vision SLAM algorithm and its hardware-software mapping-based intelligent vehicles applications. IEEE Transactions on Intelligent Transportation Systems ( 2018), 1\u201316. Daiduong Nguyen, Abdelhafid Elouardi, Sergio Alberto\u00a0Rodriguez Florez, and Samir Bouaziz. 2018. HOOFR SLAM System: An embedded vision SLAM algorithm and its hardware-software mapping-based intelligent vehicles applications. IEEE Transactions on Intelligent Transportation Systems (2018), 1\u201316."},{"doi-asserted-by":"publisher","key":"e_1_2_1_26_1","DOI":"10.1016\/j.robot.2017.03.019"},{"doi-asserted-by":"publisher","key":"e_1_2_1_27_1","DOI":"10.1109\/ICRA.2014.6907233"},{"doi-asserted-by":"publisher","key":"e_1_2_1_28_1","DOI":"10.1016\/j.robot.2018.02.018"},{"doi-asserted-by":"publisher","key":"e_1_2_1_29_1","DOI":"10.1109\/ICRA.2017.7989522"},{"doi-asserted-by":"publisher","key":"e_1_2_1_30_1","DOI":"10.1109\/TRO.2018.2853729"},{"doi-asserted-by":"publisher","key":"e_1_2_1_31_1","DOI":"10.1109\/TPAMI.2008.300"},{"doi-asserted-by":"publisher","key":"e_1_2_1_32_1","DOI":"10.1109\/TIV.2018.2804168"},{"doi-asserted-by":"publisher","key":"e_1_2_1_33_1","DOI":"10.5555\/1926258.1926261"},{"doi-asserted-by":"publisher","key":"e_1_2_1_34_1","DOI":"10.1109\/IROS.2012.6385773"},{"doi-asserted-by":"publisher","key":"e_1_2_1_35_1","DOI":"10.1109\/CC.2014.6969789"},{"doi-asserted-by":"publisher","key":"e_1_2_1_36_1","DOI":"10.1109\/ICRA.2017.7989446"},{"doi-asserted-by":"publisher","key":"e_1_2_1_37_1","DOI":"10.1109\/IROS.2017.8206582"},{"doi-asserted-by":"publisher","key":"e_1_2_1_38_1","DOI":"10.1109\/TRO.2015.2489498"},{"doi-asserted-by":"publisher","key":"e_1_2_1_39_1","DOI":"10.1109\/IROS.2017.8205991"}],"container-title":["ACM Transactions on Internet Technology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3432248","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3432248","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T20:47:10Z","timestamp":1750193230000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3432248"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,28]]},"references-count":39,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,2,28]]}},"alternative-id":["10.1145\/3432248"],"URL":"https:\/\/doi.org\/10.1145\/3432248","relation":{},"ISSN":["1533-5399","1557-6051"],"issn-type":[{"type":"print","value":"1533-5399"},{"type":"electronic","value":"1557-6051"}],"subject":[],"published":{"date-parts":[[2021,9,28]]},"assertion":[{"value":"2020-06-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-10-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-09-28","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}