{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T22:35:59Z","timestamp":1743028559328,"version":"3.40.3"},"publisher-location":"Cham","reference-count":24,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030584641"},{"type":"electronic","value":"9783030584658"}],"license":[{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020]]},"DOI":"10.1007\/978-3-030-58465-8_23","type":"book-chapter","created":{"date-parts":[[2020,8,30]],"date-time":"2020-08-30T23:04:02Z","timestamp":1598828642000},"page":"299-311","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Global-Map-Registered Local Visual Odometry Using On-the-Fly Pose Graph Updates"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3942-839X","authenticated-orcid":false,"given":"Masahiro","family":"Yamaguchi","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0540-7312","authenticated-orcid":false,"given":"Shohei","family":"Mori","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2421-9862","authenticated-orcid":false,"given":"Hideo","family":"Saito","sequence":"additional","affiliation":[]},{"given":"Shoji","family":"Yachida","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8072-3847","authenticated-orcid":false,"given":"Takashi","family":"Shibata","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,8,31]]},"reference":[{"key":"23_CR1","doi-asserted-by":"publisher","first-page":"1157","DOI":"10.1177\/0278364915620033","volume":"35","author":"M Burri","year":"2016","unstructured":"Burri, M., et al.: The EuRoC micro aerial vehicle datasets. Int. J. Robot. Res. 35, 1157\u20131163 (2016)","journal-title":"Int. J. Robot. Res."},{"key":"23_CR2","doi-asserted-by":"crossref","unstructured":"Castle, R., Klein, G., Murray, D.W.: Video-rate localization in multiple maps for wearable augmented reality. In: International Symposium on Wearable Computers, pp. 15\u201322 (2008)","DOI":"10.1109\/ISWC.2008.4911577"},{"key":"23_CR3","doi-asserted-by":"publisher","first-page":"611","DOI":"10.1109\/TPAMI.2017.2658577","volume":"40","author":"J Engel","year":"2017","unstructured":"Engel, J., Koltun, V., Cremers, D.: Direct sparse odometry. IEEE Trans. Pattern Anal. Mach. Intell. 40, 611\u2013625 (2017)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"23_CR4","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"834","DOI":"10.1007\/978-3-319-10605-2_54","volume-title":"Computer Vision \u2013 ECCV 2014","author":"J Engel","year":"2014","unstructured":"Engel, J., Sch\u00f6ps, T., Cremers, D.: LSD-SLAM: large-scale direct monocular SLAM. In: Fleet, D., Pajdla, T., Schiele, B., Tuytelaars, T. (eds.) ECCV 2014. LNCS, vol. 8690, pp. 834\u2013849. Springer, Cham (2014). https:\/\/doi.org\/10.1007\/978-3-319-10605-2_54"},{"key":"23_CR5","doi-asserted-by":"crossref","unstructured":"Forster, C., Pizzoli, M., Scaramuzza, D.: SVO: fast semi-direct monocular visual odometry. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 15\u201322. IEEE (2014)","DOI":"10.1109\/ICRA.2014.6906584"},{"key":"23_CR6","doi-asserted-by":"publisher","first-page":"1188","DOI":"10.1109\/TRO.2012.2197158","volume":"28","author":"D G\u00e1lvez-L\u00f3pez","year":"2012","unstructured":"G\u00e1lvez-L\u00f3pez, D., Tardos, J.D.: Bags of binary words for fast place recognition in image sequences. IEEE Trans. Robot. 28, 1188\u20131197 (2012)","journal-title":"IEEE Trans. Robot."},{"key":"23_CR7","doi-asserted-by":"crossref","unstructured":"Gao, X., Wang, R., Demmel, N., Cremers, D.: LDSO: direct sparse odometry with loop closure. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2198\u20132204. IEEE (2018)","DOI":"10.1109\/IROS.2018.8593376"},{"key":"23_CR8","doi-asserted-by":"crossref","unstructured":"Geiger, A., Lenz, P., Urtasun, R.: Are we ready for autonomous driving? The KITTI vision benchmark suite. In: IEEE Conference on Computer Vision and Pattern Recognition, pp. 3354\u20133361. IEEE (2012)","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"23_CR9","unstructured":"Kume, H., Supp\u00e9, A., Kanade, T.: Vehicle localization along a previously driven route using an image database. In: IAPR International Conference on Machine Vision Applications (MVA), pp. 177\u2013180 (2013)"},{"key":"23_CR10","doi-asserted-by":"crossref","unstructured":"K\u00fcmmerle, R., Grisetti, G., Strasdat, H., Konolige, K., Burgard, W.: g2o: a general framework for graph optimization. In: 2011 IEEE International Conference on Robotics and Automation, pp. 3607\u20133613. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5979949"},{"key":"23_CR11","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","volume":"33","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras. IEEE Trans. Robot. 33, 1255\u20131262 (2017)","journal-title":"IEEE Trans. Robot."},{"key":"23_CR12","doi-asserted-by":"crossref","unstructured":"Qin, T., Li, P., Shen, S.: Relocalization, global optimization and map merging for monocular visual-inertial SLAM. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 1197\u20131204. IEEE (2018)","DOI":"10.1109\/ICRA.2018.8460780"},{"key":"23_CR13","doi-asserted-by":"publisher","first-page":"1004","DOI":"10.1109\/TRO.2018.2853729","volume":"34","author":"T Qin","year":"2018","unstructured":"Qin, T., Li, P., Shen, S.: VINS-Mono: a robust and versatile monocular visual-inertial state estimator. IEEE Trans. Robot. 34, 1004\u20131020 (2018)","journal-title":"IEEE Trans. Robot."},{"key":"23_CR14","doi-asserted-by":"crossref","unstructured":"Rublee, E., Rabaud, V., Konolige, K., Bradski, G.R.: ORB: an efficient alternative to SIFT or SURF. In: International Conference on Computer Vision (ICCV), pp. 2564\u20132571. IEEE (2011)","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"23_CR15","doi-asserted-by":"publisher","first-page":"1418","DOI":"10.1109\/LRA.2018.2800113","volume":"3","author":"T Schneider","year":"2018","unstructured":"Schneider, T., et al.: Maplab: an open framework for research in visual-inertial mapping and localization. IEEE Robot. Autom. Lett. 3, 1418\u20131425 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"23_CR16","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"501","DOI":"10.1007\/978-3-319-46487-9_31","volume-title":"Computer Vision \u2013 ECCV 2016","author":"JL Sch\u00f6nberger","year":"2016","unstructured":"Sch\u00f6nberger, J.L., Zheng, E., Frahm, J.-M., Pollefeys, M.: Pixelwise view selection for unstructured multi-view stereo. In: Leibe, B., Matas, J., Sebe, N., Welling, M. (eds.) ECCV 2016. LNCS, vol. 9907, pp. 501\u2013518. Springer, Cham (2016). https:\/\/doi.org\/10.1007\/978-3-319-46487-9_31"},{"key":"23_CR17","doi-asserted-by":"crossref","unstructured":"Sch\u00f6nberger, J.L., Frahm, J.M.: Structure-from-motion revisited. In: Conference on Computer Vision and Pattern Recognition (CVPR), pp. 4104\u20134113. IEEE (2016)","DOI":"10.1109\/CVPR.2016.445"},{"key":"23_CR18","doi-asserted-by":"publisher","first-page":"768","DOI":"10.1016\/j.cag.2011.04.007","volume":"35","author":"T Taketomi","year":"2011","unstructured":"Taketomi, T., Sato, T., Yokoya, N.: Real-time and accurate extrinsic camera parameter estimation using feature landmark database for augmented reality. Comput. Graph. 35, 768\u2013777 (2011)","journal-title":"Comput. Graph."},{"issue":"1","key":"23_CR19","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s41074-017-0027-2","volume":"9","author":"T Taketomi","year":"2017","unstructured":"Taketomi, T., Uchiyama, H., Ikeda, S.: Visual SLAM algorithms: a survey from 2010 to 2016. IPSJ Trans. Comput. Vis. Appl. 9(1), 1\u201311 (2017). https:\/\/doi.org\/10.1186\/s41074-017-0027-2","journal-title":"IPSJ Trans. Comput. Vis. Appl."},{"issue":"4","key":"23_CR20","doi-asserted-by":"publisher","first-page":"376","DOI":"10.1109\/34.88573","volume":"13","author":"S Umeyama","year":"1991","unstructured":"Umeyama, S.: Least-squares estimation of transformation parameters between two point patterns. IEEE Trans. Pattern Anal. Mach. Intell. 13(4), 376\u2013380 (1991)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"23_CR21","doi-asserted-by":"publisher","first-page":"531","DOI":"10.1109\/TVCG.2014.27","volume":"20","author":"J Ventura","year":"2014","unstructured":"Ventura, J., Arth, C., Reitmayr, G., Schmalstieg, D.: Global localization from monocular SLAM on a mobile phone. IEEE Trans. Visual. Comput. Graph. 20, 531\u2013539 (2014)","journal-title":"IEEE Trans. Visual. Comput. Graph."},{"key":"23_CR22","doi-asserted-by":"crossref","unstructured":"Ventura, J., H\u00f6llerer, T.: Wide-area scene mapping for mobile visual tracking. In: Int. Symp. on Mixed and Augmented Reality (ISMAR), pp. 3\u201312 (2012)","DOI":"10.1109\/ISMAR.2012.6402531"},{"key":"23_CR23","doi-asserted-by":"crossref","unstructured":"Von Stumberg, L., Usenko, V., Cremers, D.: Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 2510\u20132517. IEEE (2018)","DOI":"10.1109\/ICRA.2018.8462905"},{"key":"23_CR24","doi-asserted-by":"crossref","unstructured":"Wang, R., Schworer, M., Cremers, D.: Stereo DSO: large-scale direct sparse visual odometry with stereo cameras. In: Proceedings of the IEEE International Conference on Computer Vision, pp. 3903\u20133911 (2017)","DOI":"10.1109\/ICCV.2017.421"}],"container-title":["Lecture Notes in Computer Science","Augmented Reality, Virtual Reality, and Computer Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-58465-8_23","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,23]],"date-time":"2021-04-23T16:58:34Z","timestamp":1619197114000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-58465-8_23"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"ISBN":["9783030584641","9783030584658"],"references-count":24,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-58465-8_23","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2020]]},"assertion":[{"value":"31 August 2020","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"AVR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Augmented Reality, Virtual Reality and Computer Graphics","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Lecce","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Italy","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2020","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"7 September 2020","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 September 2020","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"7","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"avr2020","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/www.salentoavr.it\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Single-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"OCS - Unisalento Conferences","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"99","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"45","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"14","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"45% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"2-3","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"2","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Yes","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"The conference was held virtually due to the COVID-19 pandemic.","order":10,"name":"additional_info_on_review_process","label":"Additional Info on Review Process","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}