{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T15:11:25Z","timestamp":1777734685138,"version":"3.51.4"},"publisher-location":"Cham","reference-count":35,"publisher":"Springer Nature Switzerland","isbn-type":[{"value":"9783031919886","type":"print"},{"value":"9783031919893","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025]]},"DOI":"10.1007\/978-3-031-91989-3_15","type":"book-chapter","created":{"date-parts":[[2025,5,25]],"date-time":"2025-05-25T17:33:29Z","timestamp":1748194409000},"page":"228-245","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Towards Resource-Aware Visual Inertial SLAM"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-8017-2119","authenticated-orcid":false,"given":"Giovanni","family":"Affatato","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4040-5742","authenticated-orcid":false,"given":"Marco","family":"Paracchini","sequence":"additional","affiliation":[]},{"given":"Francesca","family":"Palermo","sequence":"additional","affiliation":[]},{"given":"Diana","family":"Trojaniello","sequence":"additional","affiliation":[]},{"given":"Tommaso","family":"Ongarello","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6557-2120","authenticated-orcid":false,"given":"Marco","family":"Marcon","sequence":"additional","affiliation":[]},{"given":"Stefano","family":"Tubaro","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,5,12]]},"reference":[{"key":"15_CR1","doi-asserted-by":"publisher","unstructured":"Behroozi, A., Chen, Y., Fruchter, V., Subramanian, L., Srikanth, S., Mahlke, S.: SlimSLAM: an adaptive runtime for visual-inertial simultaneous localization and mapping. In: Proceedings of the 29th ACM International Conference on Architectural Support for Programming Languages and Operating Systems, Volume 3, pp. 900\u2013915. ACM, La Jolla CA USA (Apr 2024). https:\/\/doi.org\/10.1145\/3620666.3651361","DOI":"10.1145\/3620666.3651361"},{"key":"15_CR2","doi-asserted-by":"crossref","unstructured":"Billy, A., Pouteau, S., Desbarats, P., Chaumette, S., Domenger, J.P.: Adaptive SLAM with synthetic stereo dataset generation for real-time dense 3D reconstruction. In: VISIGRAPP 2019 : 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. Prague, Czech Republic (Feb 2019)","DOI":"10.5220\/0007386508400848"},{"issue":"6","key":"15_CR3","doi-asserted-by":"publisher","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","volume":"32","author":"C Cadena","year":"2016","unstructured":"Cadena, C., et al.: Past, present, and future of simultaneous localization and mapping: toward the robust-perception age. IEEE Trans. Rob. 32(6), 1309\u20131332 (2016). https:\/\/doi.org\/10.1109\/TRO.2016.2624754","journal-title":"IEEE Trans. Rob."},{"key":"15_CR4","doi-asserted-by":"publisher","unstructured":"Campos, C., Elvira, R., Rodriguez, J.J.G., M.\u00a0Montiel, J.M., D.\u00a0Tardos, J.: ORB-SLAM3: an accurate open-source library for visual, visual\u2013inertial, and multimap SLAM. IEEE Trans. Robot. 37(6), 1874\u20131890 (Dec 2021). https:\/\/doi.org\/10.1109\/TRO.2021.3075644","DOI":"10.1109\/TRO.2021.3075644"},{"key":"15_CR5","doi-asserted-by":"publisher","unstructured":"Campos, C., Montiel, J.M., Tardos, J.D.: Inertial-only optimization for visual-inertial initialization. In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 51\u201357. IEEE, Paris, France (May 2020). https:\/\/doi.org\/10.1109\/ICRA40945.2020.9197334","DOI":"10.1109\/ICRA40945.2020.9197334"},{"key":"15_CR6","doi-asserted-by":"publisher","unstructured":"Chen, Y., Chen, Y., Wang, G.: Bundle Adjustment Revisited (2019). https:\/\/doi.org\/10.48550\/ARXIV.1912.03858","DOI":"10.48550\/ARXIV.1912.03858"},{"key":"15_CR7","doi-asserted-by":"publisher","unstructured":"Davison: real-time simultaneous localisation and mapping with a single camera. In: Proceedings Ninth IEEE International Conference on Computer Vision, pp. 1403\u20131410 vol.2. IEEE, Nice, France (2003). https:\/\/doi.org\/10.1109\/ICCV.2003.1238654","DOI":"10.1109\/ICCV.2003.1238654"},{"issue":"6","key":"15_CR8","doi-asserted-by":"publisher","first-page":"1052","DOI":"10.1109\/TPAMI.2007.1049","volume":"29","author":"AJ Davison","year":"2007","unstructured":"Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: MonoSLAM: real-time single camera SLAM. IEEE Trans. Pattern Anal. Mach. Intell. 29(6), 1052\u20131067 (2007). https:\/\/doi.org\/10.1109\/TPAMI.2007.1049","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"15_CR9","doi-asserted-by":"publisher","unstructured":"Elvira, R., Tardos, J.D., Montiel, J.: ORBSLAM-Atlas: a robust and accurate multi-map system. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6253\u20136259. IEEE, Macau, China (Nov 2019). https:\/\/doi.org\/10.1109\/IROS40897.2019.8967572","DOI":"10.1109\/IROS40897.2019.8967572"},{"key":"15_CR10","doi-asserted-by":"publisher","unstructured":"Hou, Y., Zhang, H., Zhou, S.: Convolutional neural network-based image representation for visual loop closure detection. In: 2015 IEEE International Conference on Information and Automation, pp. 2238\u20132245. IEEE, Lijiang, China (Aug 2015). https:\/\/doi.org\/10.1109\/ICInfA.2015.7279659","DOI":"10.1109\/ICInfA.2015.7279659"},{"key":"15_CR11","doi-asserted-by":"publisher","unstructured":"Hutchison, D., et al.: BRIEF: binary robust independent elementary features. In: Daniilidis, K., Maragos, P., Paragios, N. (eds.) Computer Vision \u2013 ECCV 2010, vol.\u00a06314, pp. 778\u2013792. Springer Berlin Heidelberg, Berlin, Heidelberg (2010). https:\/\/doi.org\/10.1007\/978-3-642-15561-1_56","DOI":"10.1007\/978-3-642-15561-1_56"},{"issue":"1","key":"15_CR12","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1115\/1.3662552","volume":"82","author":"RE Kalman","year":"1960","unstructured":"Kalman, R.E.: A new approach to linear filtering and prediction problems. J. Basic Eng. 82(1), 35\u201345 (1960). https:\/\/doi.org\/10.1115\/1.3662552","journal-title":"J. Basic Eng."},{"key":"15_CR13","doi-asserted-by":"publisher","unstructured":"Ke, T., Wu, K.J., Roumeliotis, S.I.: RISE-SLAM: a resource-aware inverse schmidt estimator for SLAM. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 354\u2013361. IEEE, Macau, China (Nov 2019). https:\/\/doi.org\/10.1109\/IROS40897.2019.8967892","DOI":"10.1109\/IROS40897.2019.8967892"},{"key":"15_CR14","doi-asserted-by":"publisher","unstructured":"Klein, G., Murray, D.: parallel tracking and mapping for small AR workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 1\u201310. IEEE, Nara, Japan (Nov 2007). https:\/\/doi.org\/10.1109\/ISMAR.2007.4538852","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"15_CR15","doi-asserted-by":"publisher","unstructured":"Kummerle, 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, Shanghai, China (May 2011). https:\/\/doi.org\/10.1109\/ICRA.2011.5979949","DOI":"10.1109\/ICRA.2011.5979949"},{"key":"15_CR16","unstructured":"Maybeck, P.S.: Stochastic Models, Estimation and Control. No. v. 141 in Mathematics in Science and Engineering, Academic Press, New York (1979)"},{"key":"15_CR17","doi-asserted-by":"publisher","unstructured":"Mitra, K., Chellappa, R.: A scalable projective bundle adjustment algorithm using the L infinity norm. In: 2008 Sixth Indian Conference on Computer Vision, Graphics and Image Processing, pp. 79\u201386. IEEE, Bhubaneswar, India (Dec 2008). https:\/\/doi.org\/10.1109\/ICVGIP.2008.51","DOI":"10.1109\/ICVGIP.2008.51"},{"key":"15_CR18","doi-asserted-by":"publisher","unstructured":"Montemerlo, M., Thrun, S.: Simultaneous localization and mapping with unknown data association using FastSLAM. In: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp. 1985\u20131991. IEEE, Taipei, Taiwan (2003). https:\/\/doi.org\/10.1109\/ROBOT.2003.1241885","DOI":"10.1109\/ROBOT.2003.1241885"},{"issue":"5","key":"15_CR19","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R., Montiel, J., Tardos, J.D.: ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Rob. 31(5), 1147\u20131163 (2015). https:\/\/doi.org\/10.1109\/TRO.2015.2463671","journal-title":"IEEE Trans. Rob."},{"issue":"5","key":"15_CR20","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., Tardos, J.D.: ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras. IEEE Trans. Rob. 33(5), 1255\u20131262 (2017). https:\/\/doi.org\/10.1109\/TRO.2017.2705103","journal-title":"IEEE Trans. Rob."},{"issue":"2","key":"15_CR21","doi-asserted-by":"publisher","first-page":"796","DOI":"10.1109\/LRA.2017.2653359","volume":"2","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tardos, J.D.: Visual-inertial monocular SLAM with map reuse. IEEE Robot. Autom. Letters 2(2), 796\u2013803 (2017). https:\/\/doi.org\/10.1109\/LRA.2017.2653359","journal-title":"IEEE Robot. Autom. Letters"},{"key":"15_CR22","doi-asserted-by":"publisher","unstructured":"Newcombe, R.A., et al.: KinectFusion: Real-time dense surface mapping and tracking. In: 2011 10th IEEE International Symposium on Mixed and Augmented Reality, pp. 127\u2013136. IEEE, Basel (Oct 2011). https:\/\/doi.org\/10.1109\/ISMAR.2011.6092378","DOI":"10.1109\/ISMAR.2011.6092378"},{"issue":"1","key":"15_CR23","doi-asserted-by":"publisher","first-page":"287","DOI":"10.1007\/s10846-010-9490-z","volume":"61","author":"G N\u00fctzi","year":"2011","unstructured":"N\u00fctzi, G., Weiss, S., Scaramuzza, D., Siegwart, R.: Fusion of IMU and vision for absolute scale estimation in monocular SLAM. J. Intell. Robot. Syst. 61(1), 287\u2013299 (2011). https:\/\/doi.org\/10.1007\/s10846-010-9490-z","journal-title":"J. Intell. Robot. Syst."},{"key":"15_CR24","doi-asserted-by":"publisher","unstructured":"Pei, Y., Biswas, S., Fussell, D.S., Pingali, K.: SLAMBooster: an application-aware online controller for approximation in dense SLAM. In: 2019 28th International Conference on Parallel Architectures and Compilation Techniques (PACT), pp. 296\u2013310. IEEE, Seattle, WA, USA (Sep 2019). https:\/\/doi.org\/10.1109\/PACT.2019.00031","DOI":"10.1109\/PACT.2019.00031"},{"key":"15_CR25","doi-asserted-by":"publisher","unstructured":"Rosten, E., Drummond, T.: Machine learning for high-speed corner detection. In: Leonardis, A., Bischof, H., Pinz, A. (eds.) Computer Vision \u2013 ECCV 2006, vol.\u00a03951, pp. 430\u2013443. Springer Berlin Heidelberg, Berlin, Heidelberg (2006). https:\/\/doi.org\/10.1007\/11744023_34","DOI":"10.1007\/11744023_34"},{"key":"15_CR26","doi-asserted-by":"publisher","unstructured":"Rublee, E., Rabaud, V., Konolige, K., Bradski, G.: ORB: an efficient alternative to SIFT or SURF. In: 2011 International Conference on Computer Vision, pp. 2564\u20132571. IEEE, Barcelona, Spain (Nov 2011). https:\/\/doi.org\/10.1109\/ICCV.2011.6126544","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"15_CR27","doi-asserted-by":"publisher","unstructured":"Schubert, D., Goll, T., Demmel, N., Usenko, V., Stuckler, J., Cremers, D.: The TUM VI benchmark for evaluating visual-inertial odometry. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1680\u20131687. IEEE, Madrid (Oct 2018). https:\/\/doi.org\/10.1109\/IROS.2018.8593419","DOI":"10.1109\/IROS.2018.8593419"},{"key":"15_CR28","doi-asserted-by":"publisher","unstructured":"Seiskari, O., Rantalankila, P., Kannala, J., Ylilammi, J., Rahtu, E., Solin, A.: HybVIO: pushing the limits of real-time visual-inertial odometry. In: 2022 IEEE\/CVF Winter Conference on Applications of Computer Vision (WACV), pp. 287\u2013296. IEEE, Waikoloa, HI, USA (Jan 2022). https:\/\/doi.org\/10.1109\/WACV51458.2022.00036","DOI":"10.1109\/WACV51458.2022.00036"},{"key":"15_CR29","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2021\/2054828","volume":"2021","author":"M Servi\u00e8res","year":"2021","unstructured":"Servi\u00e8res, M., Renaudin, V., Dupuis, A., Antigny, N.: Visual and visual-inertial SLAM: state of the art, classification, and experimental benchmarking. J. Sensors 2021, 1\u201326 (2021). https:\/\/doi.org\/10.1155\/2021\/2054828","journal-title":"J. Sensors"},{"key":"15_CR30","unstructured":"Smith, R.: A stochastic map for uncertain spatial relationships. In: Proceedings of the International Symposium on Robotics Research, pp. 467\u2013474 (1988)"},{"issue":"2","key":"15_CR31","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-021-01414-1","volume":"102","author":"J Soares","year":"2021","unstructured":"Soares, J., Gattass, M., Meggiolaro, M.A.: Crowd-SLAM: visual SLAM towards crowded environments using object detection. J. Intell. Robot. Syst. 102(2), 1\u201316 (2021). https:\/\/doi.org\/10.1007\/s10846-021-01414-1","journal-title":"J. Intell. Robot. Syst."},{"key":"15_CR32","doi-asserted-by":"publisher","unstructured":"Sturm, J., Engelhard, N., Endres, F., Burgard, W., Cremers, D.: A benchmark for the evaluation of RGB-D SLAM systems. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 573\u2013580. IEEE, Vilamoura-Algarve, Portugal (Oct 2012). https:\/\/doi.org\/10.1109\/IROS.2012.6385773","DOI":"10.1109\/IROS.2012.6385773"},{"key":"15_CR33","doi-asserted-by":"publisher","unstructured":"Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment \u2014 a modern synthesis. In: Goos, G., Hartmanis, J., Van\u00a0Leeuwen, J., Triggs, B., Zisserman, A., Szeliski, R. (eds.) Vision Algorithms: Theory and Practice, vol.\u00a01883, pp. 298\u2013372. Springer Berlin Heidelberg, Berlin, Heidelberg (2000). https:\/\/doi.org\/10.1007\/3-540-44480-7_21","DOI":"10.1007\/3-540-44480-7_21"},{"issue":"2","key":"15_CR34","doi-asserted-by":"publisher","first-page":"994","DOI":"10.1109\/LRA.2018.2793357","volume":"3","author":"AR Vidal","year":"2018","unstructured":"Vidal, A.R., Rebecq, H., Horstschaefer, T., Scaramuzza, D.: Ultimate SLAM? combining events, images, and IMU for robust visual SLAM in HDR and high-speed scenarios. IEEE Robot. Autom. Letters 3(2), 994\u20131001 (2018). https:\/\/doi.org\/10.1109\/LRA.2018.2793357","journal-title":"IEEE Robot. Autom. Letters"},{"key":"15_CR35","doi-asserted-by":"publisher","unstructured":"Yang, N., von Stumberg, L., Wang, R., Cremers, D.: D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry (2020). https:\/\/doi.org\/10.48550\/ARXIV.2003.01060","DOI":"10.48550\/ARXIV.2003.01060"}],"container-title":["Lecture Notes in Computer Science","Computer Vision \u2013 ECCV 2024 Workshops"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-91989-3_15","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,25]],"date-time":"2025-05-25T17:33:32Z","timestamp":1748194412000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-91989-3_15"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"ISBN":["9783031919886","9783031919893"],"references-count":35,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-91989-3_15","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"12 May 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ECCV","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"European Conference on Computer Vision","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Milan","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":"2024","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"29 September 2024","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"4 October 2024","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"18","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"eccv2024","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/eccv2024.ecva.net\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}