Index for inert

_	inert	_
Fuzzy Pattern-Recognition of Tungsten	inert	-Gas Weld Quality

_	inertia	_
Adaptive morphological closing based on	inertia	tensor for structuring element estimation
Alternative Approach to Mapping Thermophysical Units from Martian Thermal	inertia	and Albedo Data Using a Combination of Unsupervised Classification Techniques, An
Assessing Lava Flow Subpixel Surface Roughness and Particle Size Distribution for Improved Thermal	inertia	Interpretations
Atmospheric Transmission and Thermal	inertia	Induced Blind Road Segmentation with a Large-Scale Dataset TBRSD
Blur Identification Using a Spectral	inertia	Tensor and Spectral Zeros
Brain symmetry plane computation in MR images using	inertia	axes and optimization
Contour Detection Algorithm Based on the Minimum Radial	inertia	(MRI) Criterion, A
Curved	inertia	Frames and the Skeleton Sketch: Finding Salient Frames of Reference
Drift of the Earth's Principal Axes of	inertia	from GRACE and Satellite Laser Ranging Data
Elliptic Fit of Objects in Two and Three Dimensions by Moment of	inertia	Optimization
Extracting the	inertia	Properties of the Human Upper Body Using Computer Vision
Feed-forward friction and	inertia	compensation for improving backdrivability of motors
Frame interpolation scheme using	inertia	motion prediction
Geodesic active contour,	inertia	and initial speed
Geostatistical Approach to Map Near-Surface Soil Moisture Through Hyperspatial Resolution Thermal	inertia	, A
High Resolution Apparent Thermal	inertia	Mapping on Mars
Hyperspectral Remote Sensing Inversion and Monitoring of Organic Matter in Black Soil Based on Dynamic Fitness	inertia	Weight Particle Swarm Optimization Neural Network
Improving Estimation of Soil Moisture Content Using a Modified Soil Thermal	inertia	Model
	inertia	Sensor Aided Alignment for Burst Pipeline in Low Light Conditions
	inertia	-based video cut detection and its integration with video coder
	inertia	-Constrained Pixel-by-Pixel Nonnegative Matrix Factorisation: A Hyperspectral Unmixing Method Dealing with Intra-Class Variability
	inertia	-Guided Flow Completion and Style Fusion for Video Inpainting
Influence of Temperature	inertia	on Thermal Radiation Directionality Modeling Based on Geometric Optical Model
Mean Moment of	inertia	for Irregularly Shaped Phobos and Its Application to the Constraint for the Two-Layer Interior Structure for the Martian Moon, The
Method for Downscaling FengYun-3B Soil Moisture Based on Apparent Thermal	inertia	, A
Novel Unsupervised domain adaptation method for	inertia	-Trajectory translation of in-air handwriting, A
On Minimal Moment of	inertia	Polyominoes
predictive contour	inertia	snake model for general video tracking, A
Real-Time Interactively Distributed Multi-Object Tracking Using a Magnetic-	inertia	Potential Model
Remote Sensing of Soil Moisture in Vineyards Using Airborne and Ground-Based Thermal	inertia	Data
Road extraction by snake with	inertia	and differential features
Road Extraction Method by an Active Contour Model with	inertia	and Differential Features, A
Shadow resistant tracking using	inertia	constraints
Single Object Tracking in Satellite Videos: Deep Siamese Network Incorporating an Interframe Difference Centroid	inertia	Motion Model
Two-Source Normalized Soil Thermal	inertia	Model for Estimating Field-Scale Soil Moisture from MODIS and ASTER Data, A
Using Simplified Thermal	inertia	to Determine the Theoretical Dry Line in Feature Space for Evapotranspiration Retrieval

36 for inertia

_	inertial	_
3D human pose estimation with single image and	inertial	measurement unit (IMU) sequence
AbolDeepIO: A Novel Deep	inertial	Odometry Network for Autonomous Vehicles
Accuracy Evaluation of Stereo Vision Aided	inertial	Navigation for Indoor Environments
Accurate Visual-	inertial	Integrated Geo-Tagging Method for Crowdsourcing-Based Indoor Localization, An
ADVIO: An Authentic Dataset for Visual-	inertial	Odometry
Automatic calibration for	inertial	measurement unit
Automatic Mapping of Center Line of Railway Tracks using Global Navigation Satellite System,	inertial	Measurement Unit and Laser Scanner
Bayesian structure from motion using	inertial	information
Bias-Error Accumulation Analysis for	inertial	Navigation Methods
Bundle adjustment with raw	inertial	observations in UAV applications
Camera Motion Estimation Using Monocular Image Sequences and	inertial	Data
Camera Stabilization Based on 2.5D Motion Estimation and	inertial	Motion Filtering
Camera Trajectory Estimation using	inertial	Sensor Measurements and Structure from Motion Results
Centimeter-level, Robust GNSS-aided	inertial	Post-processing For Mobile Mapping Without Local Reference Stations
Classification of surfaces and inclinations during outdoor running using shoe-mounted	inertial	sensors
Closed-Form Solution of Visual-	inertial	Structure from Motion
Coarse-to-Fine Loosely-Coupled LiDAR-	inertial	Odometry for Urban Positioning and Mapping
Combining	inertial	and visual sensing for human action recognition in tennis
Comparative Analysis of Visual-	inertial	SLAM for Assisted Wayfinding of the Visually Impaired, A
Comparative study on classifying human activities with miniature	inertial	and magnetic sensors
Compass aided visual-	inertial	odometry
Computation of Ego-Motion and Structure from Visual an	inertial	Sensor Using the Vertical Cue
Confidence analysis of feature points for visual-	inertial	odometry of urban vehicles
Cooperative	inertial	Navigation for GNSS-Challenged Vehicular Environments
CoVIO: Online Continual Learning for Visual-	inertial	Odometry
CVIDS: A Collaborative Localization and Dense Mapping Framework for Multi-Agent Based Visual-	inertial	SLAM
D-LIOM: Tightly-Coupled Direct LiDAR-	inertial	Odometry and Mapping
D-VINS: Dynamic Adaptive Visual-	inertial	SLAM with IMU Prior and Semantic Constraints in Dynamic Scenes
Data Set for the Study of Human Locomotion with	inertial	Measurements Units, A
Data-Efficient Collaborative Decentralized Thermal-	inertial	Odometry
DC-VINS: Dynamic Camera Visual	inertial	Navigation System with Online Calibration
Deep Learning Approach to Writer Identification Using	inertial	Sensor Data of Air-Handwriting, A
Delayed fusion for real-time vision-aided	inertial	navigation
Developing a Cubature Multi-state Constraint Kalman Filter for Visual-	inertial	Navigation System
Development of a Lightweight	inertial	Gravimeter for Use on Board an Autonomous Underwater Vehicle: Measurement Principle, System Design and Sea Trial Mission
Development of motion analysis protocols based on	inertial	sensors
Digital Video Sequence Stabilization Based on 2.5D Motion Estimation and	inertial	Motion Filtering
Direct Visual-	inertial	Odometry and Mapping for Unmanned Vehicle
Distributed Stochastic	inertial	-Accelerated Methods with Delayed Derivatives for Nonconvex Problems
Efficient camera motion and 3D recovery using an	inertial	sensor
Efficient Deep Visual and	inertial	Odometry with Adaptive Visual Modality Selection
Efficient method for the determination of image correspondence in airborne applications using	inertial	sensors
Efficient Online Egomotion Estimation Using Visual and	inertial	Readings
Efficient Schmidt-EKF for 3D Visual-	inertial	SLAM, An
EKF-Based Visual	inertial	Navigation Using Sliding Window Nonlinear Optimization
Enabling accurate low cost positioning in denied GPS environments with nonlinear error models of	inertial	systems
Energy expenditure estimation using visual and	inertial	sensors
Epipolar Constraints for Vision-Aided	inertial	Navigation
Evaluating Visual	inertial	Odometry Using the Windy Forest Dataset
Evaluation of	inertial	measurement systems using laser scanners and known landmarks
Event-Based Visual	inertial	Odometry
EvIs-Kitchen: Egocentric Human Activities Recognition with Video and	inertial	Sensor Data
Evolutionary Metric-Learning-Based Recognition Algorithm for Online Isolated Persian/Arabic Characters, Reconstructed Using	inertial	Pen Signals
Fast and Robust Algorithm for Orientation Estimation Using	inertial	Sensors, A
Fast Bilinear Structure from Motion Algorithm Using a Video Sequence and	inertial	Sensors, A
Fast Matching Method for the SAR Images with Large Viewing Angles Based on	inertial	Navigation Information and Neighborhood Structure Consensus, A
Fast Motion Deblurring for Feature Detection and Matching Using	inertial	Measurements
First Attempt of SAR Visual-	inertial	Odometry, The
Frequency features and GMM-UBM approach for gait-based person identification using smartphone	inertial	signals
Fusing	inertial	Sensor Data in an Extended Kalman Filter for 3D Camera Tracking
Fusing Visual and	inertial	Sensors with Semantics for 3D Human Pose Estimation
Fusion of	inertial	and Visual Measurements for RGB-D SLAM on Mobile Devices
G-VIDO: A Vehicle Dynamics and Intermittent GNSS-Aided Visual-	inertial	State Estimator for Autonomous Driving
Gabor Feature-Based LogDemons With	inertial	Constraint for Nonrigid Image Registration
GESTO: A Glove for Enhanced Sensing and Touching Based on	inertial	and Magnetic Sensors for Hand Tracking and Cutaneous Feedback
Gesture spotting with body-worn	inertial	sensors to detect user activities
Human Action Recognition Using Fusion of Depth and	inertial	Sensors
Hybrid visual and	inertial	RANSAC for real-time motion estimation
HybVIO: Pushing the Limits of Real-time Visual-	inertial	Odometry
Hydromorphological Classification Using Synchronous Pressure and	inertial	Sensing
ICE-BA: Incremental, Consistent and Efficient Bundle Adjustment for Visual-	inertial	SLAM
Image Deblurring Using Smartphone	inertial	Sensors
Image Deblurring Utilizing	inertial	Sensors and a Short-Long-Short Exposure Strategy
Image Matching Optimization Via Vision And	inertial	Data Fusion: Application To Navigation Of The Visually Impaired
Improved Point-Line Visual-	inertial	Odometry System Using Helmert Variance Component Estimation
Improvement of angular velocity and position estimation in gyro-free	inertial	navigation based on vision aid equipment
Improving Human Action Recognition Using Fusion of Depth Camera and	inertial	Sensors
Improving Visual	inertial	Odometry with UWB Positioning for UAV Indoor Navigation
IMU-Aided Registration of MLS Point Clouds Using	inertial	Trajectory Error Model and Least Squares Optimization
In-Flight Alignment Method for Global Positioning System-Assisted Low Cost Strapdown	inertial	Navigation System in Flight Body with Short-Endurance and High-Speed Rotation, An
Increasing the Observability of Near	inertial	Oscillations by a Future ODYSEA Satellite Mission
	inertial	Alternating Generalized Forward-Backward Splitting for Image Colorization
	inertial	and Magnetic Sensing of Human Motion
	inertial	BSN-Based Characterization and Automatic UPDRS Evaluation of the Gait Task of Parkinsonians
	inertial	Forward-Backward Algorithm for Monotone Inclusions, An
	inertial	information assisted acquisition algorithm of modernized navigation signal, An
	inertial	Measurement Unit-Based Wearable Computers for Assisted Living Applications: A signal processing perspective
	inertial	Measurement Units-Based Probe Vehicles: Automatic Calibration, Trajectory Estimation, and Context Detection
	inertial	Navigation Aiding by Stationary Updates
	inertial	Navigation, INS
	inertial	Nonconvex Alternating Minimizations for the Image Deblurring
	inertial	Optical Flow for Throw-and-Go Micro Air Vehicles
	inertial	Proximal ADMM for Linearly Constrained Separable Convex Optimization
	inertial	Proximal Alternating Linearized Minimization (iPALM) for Nonconvex and Nonsmooth Problems
	inertial	Safety from Structured Light
	inertial	Sensing Meets Machine Learning: Opportunity or Challenge?
	inertial	Sensing of Human Movement
	inertial	sensor-aligned visual feature descriptors
	inertial	snake for contour detection in ultrasonography images
	inertial	-sensor-based walking action recognition using robust step detection and inter-class relationships
	inertial	-Vision: Cross-Domain Knowledge Transfer for Wearable Sensors
Information Fusion Strategies for Collaborative	inertial	Radio SLAM
Integration of GNSS Precise Point Positioning and Reduced	inertial	Sensor System for Lane-Level Car Navigation
Integration of GPS/BDS Real-Time Kinematic Positioning and Visual-	inertial	Odometry Based on Smartphones, The
Integration of Visual and	inertial	Information for Egomotion: A Stochastic Approach
Intensity/	inertial	Integration-Aided Feature Tracking on Event Cameras
iPiano:	inertial	Proximal Algorithm for Nonconvex Optimization
iPiasco:	inertial	Proximal Algorithm for Strongly Convex Optimization
joint visual-	inertial	image registration for mobile HDR imaging, A
Kinect vs. Low-cost	inertial	Sensing for Gesture Recognition
Kinematic Tracking of Rehabilitation Patients With Markerless Pose Estimation Fused with Wearable	inertial	Sensors
largest	inertial	sensor-based gait database and performance evaluation of gait-based personal authentication, The
Laser-visual-	inertial	Odometry Based Solution for 3d Heritage Modeling: The Sanctuary of The Blessed Virgin of Trompone
Learned Monocular Depth Priors in Visual-	inertial	Initialization
Learning-Aided	inertial	Odometry With Nonlinear State Estimator on Manifold
LIDAR-	inertial	Real-Time State Estimator with Rod-Shaped and Planar Feature
LiDAR-	inertial	-GNSS Fusion Positioning System in Urban Environment: Local Accurate Registration and Global Drift-Free
LiDAR-Visual-	inertial	Odometry Based on Optimized Visual Point-Line Features
Lidar-Visual-	inertial	Odometry Using Point and Line Features
Localization Based on Semantic Map and Visual	inertial	Odometry
Look Out for Apple's AR Glasses: With head-up displays, cameras,	inertial	sensors, and lidar on board, Apple's augmented-reality glasses could redefine wearables
Low-cost solid-state LiDAR/	inertial	-based localization with prior map for autonomous systems in urban scenarios
MA-VIED: A Multisensor Automotive Visual	inertial	Event Dataset
Macro-Class Selection for Hierarchical K-NN Classification of	inertial	Sensor Data
Marker Based Thermal-	inertial	Localization for Aerial Robots in Obscurant Filled Environments
MC2SLAM: Real-Time	inertial	Lidar Odometry Using Two-Scan Motion Compensation
Measurements of Waves in Landfast Ice Using	inertial	Motion Units
Minimax Framework for Two-Agent Scheduling With	inertial	Constraints, A
Modeling Varying Camera-IMU Time Offset in Optimization-Based Visual-	inertial	Odometry
Modified Binary	inertial	Particle Swarm Optimization for Gene Selection in DNA Microarray Data
MOFISSLAM: A Multi-Object Semantic SLAM System With Front-View,	inertial	, and Surround-View Sensors for Indoor Parking
Monocular Visual-	inertial	Navigation for Dynamic Environment
Monocular Visual-	inertial	SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization
Monocular Visual-	inertial	-Wheel Odometry Using Low-Grade IMU in Urban Areas
Motion blur kernel estimation using noisy	inertial	data
Motion Estimation from Image and	inertial	Measurements
Multi-Antenna Global Navigation Satellite System/	inertial	Measurement Unit Tight Integration for Measuring Displacement and Vibration in Structural Health Monitoring
Multi-Instance	inertial	Navigation System for Radar Terrain Imaging
Multisensor Multiclassifier Hierarchical Fusion Model Based on Entropy Weight for Human Activity Recognition Using Wearable	inertial	Sensors, A
Multitarget Tracking Control for Coupled Heterogeneous	inertial	Agents Systems Based on Flocking Behavior
Multiview Cauchy Estimator Feature Embedding for Depth and	inertial	Sensor-Based Human Action Recognition
Neural	inertial	Localization
Novel Approach for Vehicle	inertial	Parameter Identification Using a Dual Kalman Filter, A
Novel Robust	inertial	and Ultra-Short Baseline Integrated Navigation Strategy Under the Influence of Motion Effect, A
Objective clinical gait analysis using	inertial	sensors and six minute walking test
Observation of Near-	inertial	Internal Gravity Waves in the Southern South China Sea
Observed Near-	inertial	Waves in the Northern South China Sea
On-Device Mobile Visual Location Recognition by Integrating Vision and	inertial	Sensors
Online Assessment of Driving Riskiness via Smartphone-Based	inertial	Measurements
Online estimation of	inertial	parameter for lightweight electric vehicle using dual unscented Kalman filter approach
optical-	inertial	tracking system for fully-enclosed VR displays, An
Optimal motion estimation from visual and	inertial	measurements
Optimizing Matching Area for Underwater Gravity-Aided	inertial	Navigation Based on the Convolution Slop Parameter-Support Vector Machine Combined Method
Panoramic Visual-	inertial	SLAM Tightly Coupled with a Wheel Encoder
PC-based orientation sensing using 9-DOF strapdown	inertial	measurement unit, A
Pedestrian Simultaneous Localization and Mapping in Multistory Buildings Using	inertial	Sensors
Performance Analysis of the Tactical	inertial	Navigator Aided by Non-GPS Derived References, The
Performance Prediction Method Based on Sliding Window Grey Neural Network for	inertial	Platform, A
Perigeo Project:	inertial	and Imaging Sensors Processing, Integration and Validation on UAV Platforms for Space Navigation, The
Physical	inertial	Poser (PIP): Physics-aware Real-time Human Motion Tracking from Sparse Inertial Sensors
Physical	inertial	Poser (PIP): Physics-aware Real-time Human Motion Tracking from Sparse Inertial Sensors
Piecewise Linear Dynamical Model for Action Clustering from Real-World Deployments of	inertial	Body Sensors
PIVO: Probabilistic	inertial	-Visual Odometry for Occlusion-Robust Navigation
PKS: A photogrammetric key-frame selection method for visual-	inertial	systems built on ORB-SLAM3
Positioning of Quadruped Robot Based on Tightly Coupled LiDAR Vision	inertial	Odometer
Real-Time Body Tracking with One Depth Camera and	inertial	Sensors
Real-Time Computer Vision/DGPS-Aided	inertial	Navigation System for Lane-Level Vehicle Navigation
Real-time hybrid pose estimation from vision and	inertial	data
Real-Time Object Tracking on a Drone With Multi-	inertial	Sensing Data
Real-time Visual-	inertial	Odometry for Event Cameras using Keyframe-based Nonlinear Optimization
Real-Time Visual-	inertial	SLAM Based on Adaptive Keyframe Selection for Mobile AR Applications
Recognizing human motions through mixture modeling of	inertial	data
Reduction of Inherent Ambiguities in Structure from Motion Problem Using	inertial	Data
Reference Data Set for Accuracy Evaluation of Orientation Estimation Algorithms for	inertial	Motion Capture Systems
Reference Data Set for the Study of Healthy Subject Gait with	inertial	Measurements Units, A
Renormalization for Initialization of Rolling Shutter Visual-	inertial	Odometry
RIO: Rotation-equivariance supervised learning of robust	inertial	odometry
RNGC-VIWO: Robust Neural Gyroscope Calibration Aided Visual-	inertial	-Wheel Odometry for Autonomous Vehicle
Robust Gait Recognition by Integrating	inertial	and RGBD Sensors
Robust Multispectral Visual-	inertial	Navigation With Visual Odometry Failure Recovery
Robust real-time tracking by fusing measurements from	inertial	and vision sensors
Robust structure from motion estimation using	inertial	data
Robust Visual-	inertial	Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas
Robust Visual-	inertial	Navigation System for Low Precision Sensors under Indoor and Outdoor Environments
Robust Visual-	inertial	Odometry Based on a Kalman Filter and Factor Graph
Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-	inertial	Initialization, A
RSS-LIWOM: Rotating Solid-State LiDAR for Robust LiDAR-	inertial	-Wheel Odometry and Mapping
RVIO: An Effective Localization Algorithm for Range-Aided Visual-	inertial	Odometry System
Selective Sensor Fusion for Neural Visual-	inertial	Odometry
Sensor Fusion and Calibration of	inertial	Sensors, Vision, Ultra-Wideband and GPS
Siamese neural network based similarity metric for	inertial	gesture classification and rejection
Similar gait action recognition using an	inertial	sensor
Simulation Framework for a Visual-	inertial	Navigation System
Simulation of	inertial	Navigation System Errors At Aerial Photography From UAV
Simultaneous filter tuning and calibration of the camera and	inertial	measurement unit camera for a vision inertial navigation system
Simultaneous filter tuning and calibration of the camera and	inertial	measurement unit camera for a vision inertial navigation system
Simultaneous Vehicle Localization and Roadside Tree Inventory Using Integrated LiDAR-	inertial	-GNSS System
Smart Toothbrushes:	inertial	Measurement Sensors Fusion with Visual Tracking
Space-Variant Image Deblurring on Smartphones Using	inertial	Sensors
Spatial Calibration for Thermal-RGB Cameras and	inertial	Sensor System
Spline Error Weighting for Robust Visual-	inertial	Fusion
Spline Fusion: A continuous-time representation for visual-	inertial	fusion with application to rolling shutter cameras
Stabilizing cell phone video using	inertial	measurement sensors
Stereo-Based System with	inertial	Navigation for Outdoor 3D Scanning, A
Study On Improvement Of Accuracy In	inertial	Photogrammetry By Combining Images With Inertial Measurement Unit
Study On Improvement Of Accuracy In	inertial	Photogrammetry By Combining Images With Inertial Measurement Unit
SVO Pro: Semi-direct Visual-	inertial	Odometry and SLAM for Monocular, Stereo, and Wide Angle Cameras
Systematic Approach for	inertial	Sensor Calibration of Gravity Recovery Satellites and Its Application to Taiji-1 Mission, A
Texture-Aware SLAM Using Stereo Imagery and	inertial	Information
Three-Dimensional Body and Centre of Mass Kinematics in Alpine Ski Racing Using Differential GNSS and	inertial	Sensors
Threshold-Free Phase Segmentation and Zero Velocity Detection for Gait Analysis Using Foot-Mounted	inertial	Sensors
TIGER: A Tucker-based instrument for gesture recognition with	inertial	sensors
Tight Integration of GNSS Post-processed Virtual Reference Station with	inertial	Data for Increased Accuracy and Productivity of Airborne Mapping
Time Shifted IMU Preintegration for Temporal Calibration in Incremental Visual-	inertial	Initialization
Time Synchronization Errors in Loosely Coupled GPS-Aided	inertial	Navigation Systems
Towards End-to-end Learning of Visual	inertial	Odometry with an EKF
Towards Visual-	inertial	SLAM for Mobile Augmented Reality
tutorial on human activity recognition using body-worn	inertial	sensors, A
Uncertainty modeling for efficient visual odometry via	inertial	sensors on mobile devices
Unsupervised Deep Visual-	inertial	Odometry with Online Error Correction for RGB-D Imagery
Upright and Stabilized Omnidirectional Depth Estimation for Wide-baseline Multi-camera	inertial	Systems
UTD-MHAD: A multimodal dataset for human action recognition utilizing a depth camera and a wearable	inertial	sensor
UWB Ranging and IMU Data Fusion: Overview and Nonlinear Stochastic Filter for	inertial	Navigation
VIDO: A Robust and Consistent Monocular Visual-	inertial	-Depth Odometry
VIMO: Simultaneous Visual	inertial	Model-based Odometry and Force Estimation
VINS-Dimc: A Visual-	inertial	Navigation System for Dynamic Environment Integrating Multiple Constraints
Vision and	inertial	sensor cooperation using gravity as a vertical reference
Vision-Depth Landmarks and	inertial	Fusion for Navigation in Degraded Visual Environments
Vision-	inertial	tracking system for robust fiducials registration in augmented reality
Visual Odometry System Using Multiple Stereo Cameras and	inertial	Measurement Unit
Visual-	inertial	navigation with guaranteed convergence
Visual-	inertial	Object Detection and Mapping
Visual-	inertial	Odometry of Smartphone under Manhattan World
Visual-	inertial	-Semantic Scene Representation for 3D Object Detection
Visual/	inertial	/GNSS Integrated Navigation System under GNSS Spoofing Attack
WHUVID: A Large-Scale Stereo-IMU Dataset for Visual-	inertial	Odometry and Autonomous Driving in Chinese Urban Scenarios

236 for inertial

_	inertially	_
Minimax Scheduling Framework for	inertially	-Constrained Multi-Agent Systems, A

Index for "i"