{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T19:06:27Z","timestamp":1779908787489,"version":"3.53.1"},"publisher-location":"Cham","reference-count":23,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319508344","type":"print"},{"value":"9783319508351","type":"electronic"}],"license":[{"start":{"date-parts":[[2016,1,1]],"date-time":"2016-01-01T00:00:00Z","timestamp":1451606400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016]]},"DOI":"10.1007\/978-3-319-50835-1_51","type":"book-chapter","created":{"date-parts":[[2016,12,9]],"date-time":"2016-12-09T00:42:52Z","timestamp":1481244172000},"page":"569-581","source":"Crossref","is-referenced-by-count":8,"title":["Monocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization"],"prefix":"10.1007","author":[{"given":"Timo","family":"Hinzmann","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thomas","family":"Schneider","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marcin","family":"Dymczyk","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andreas","family":"Schaffner","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Simon","family":"Lynen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Igor","family":"Gilitschenski","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2016,12,10]]},"reference":[{"key":"51_CR1","doi-asserted-by":"crossref","unstructured":"Nerurkar, E., Wu, K., Roumeliotis, S.: C-KLAM: constrained keyframe-based localization and mapping. In: ICRA (2014)","DOI":"10.1109\/ICRA.2014.6907385"},{"key":"51_CR2","doi-asserted-by":"crossref","unstructured":"Leutenegger, S., Lynen, S., Bosse, M., Siegwart, R., Furgale, P.: Keyframe-based visual-inertial odometry using nonlinear optimization. In: IJRR (2015)","DOI":"10.1177\/0278364914554813"},{"key":"51_CR3","doi-asserted-by":"crossref","unstructured":"Li, M., Mourikis, A.I.: Optimization-based estimator design for vision-aided inertial navigation. In: RSS (2013)","DOI":"10.15607\/RSS.2012.VIII.031"},{"key":"51_CR4","doi-asserted-by":"crossref","unstructured":"Mourikis, A.I., Roumeliotis, S.I.: A multi-state constraint Kalman filter for vision-aided inertial navigation. In: ICRA (2007)","DOI":"10.1109\/ROBOT.2007.364024"},{"key":"51_CR5","doi-asserted-by":"crossref","unstructured":"Huang, G.P., Mourikis, A.I., Roumeliotis, S.I.: An observability-constrained sliding-window filter for SLAM. In: IROS (2011)","DOI":"10.1109\/IROS.2011.6095161"},{"key":"51_CR6","doi-asserted-by":"crossref","unstructured":"Hesch, J.A., Kottas, D.G., Bowman, S.L., Roumeliotis, S.I.: Camera-IMU-based localization: observability analysis and consistency improvement. In: IJRR (2014)","DOI":"10.1177\/0278364913509675"},{"key":"51_CR7","doi-asserted-by":"crossref","unstructured":"Martinelli, A.: Visual-inertial structure from motion: observability vs. minimum number of sensors. In: ICRA (2014)","DOI":"10.1109\/ICRA.2014.6906979"},{"key":"51_CR8","doi-asserted-by":"crossref","unstructured":"Li, M., Kim, B.H., Mourikis, A.I.: Real-time motion tracking on a cellphone using inertial sensing and a rolling-shutter camera. In: ICRA (2013)","DOI":"10.1109\/ICRA.2013.6631248"},{"key":"51_CR9","doi-asserted-by":"crossref","unstructured":"Mourikis, A.I., Roumeliotis, S.I.: A dual-layer estimator architecture for long-term localization. In: CVPRW (2008)","DOI":"10.1109\/CVPRW.2008.4563131"},{"key":"51_CR10","doi-asserted-by":"crossref","unstructured":"Leutenegger, S., Lynen, S., Bosse, M., Siegwart, R., Furgale, P.: Keyframe-based visual-inertial SLAM using nonlinear optimization. In: IJRR (2014)","DOI":"10.15607\/RSS.2013.IX.037"},{"key":"51_CR11","doi-asserted-by":"crossref","unstructured":"Sibley, G., Matthies, L., Sukhatme, G.S.: Sliding window filter with application to planetary landing. In: JFR (2010)","DOI":"10.1002\/rob.20360"},{"key":"51_CR12","doi-asserted-by":"crossref","unstructured":"Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J., Dellaert, F.: iSAM2: incremental smoothing and mapping using the Bayes tree. In: IJRR (2012)","DOI":"10.1177\/0278364911430419"},{"key":"51_CR13","doi-asserted-by":"crossref","unstructured":"Chiu, H.P., Williams, S., Dellaert, F., Samarasekera, S., Kumar, R.: Robust vision-aided navigation using sliding-window factor graphs. In: ICRA (2013)","DOI":"10.1109\/ICRA.2013.6630555"},{"key":"51_CR14","doi-asserted-by":"crossref","unstructured":"Furgale, P., Rehder, J., Siegwart, R.: Unified temporal and spatial calibration for multi-sensor systems. In: IROS (2013)","DOI":"10.1109\/IROS.2013.6696514"},{"key":"51_CR15","doi-asserted-by":"crossref","unstructured":"Grisetti, G., Kummerle, R., Stachniss, C., Burgard, W.: A tutorial on graph-based SLAM. In: ITSM","DOI":"10.1109\/MITS.2010.939925"},{"key":"51_CR16","unstructured":"Leutenegger, S.: Unmanned solar airplanes. Ph.D. thesis, Dissertion, ETH Z\u00fcrich, Nr. 22113 (2014)"},{"key":"51_CR17","unstructured":"Furgale, P.: Extensions to the visual odometry pipeline for the exploration of planetary surfaces. University of Toronto (2011)"},{"key":"51_CR18","doi-asserted-by":"crossref","unstructured":"Forster, C., Carlone, L., Dellaert, F., Scaramuzza, D.: IMU preintegration on manifold for efficient visual-inertial maximum-a-posteriori estimation. In: RSS (2015)","DOI":"10.15607\/RSS.2015.XI.006"},{"key":"51_CR19","doi-asserted-by":"crossref","unstructured":"Carlone, L., Kira, Z., Beall, C., Indelman, V., Dellaert, F.: Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors. In: ICRA (2014)","DOI":"10.1109\/ICRA.2014.6907483"},{"issue":"3","key":"51_CR20","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1145\/1024074.1024079","volume":"30","author":"TA Davis","year":"2004","unstructured":"Davis, T.A., Gilbert, J.R., Larimore, S.I., Ng, E.G.: A column approximate minimum degree ordering algorithm. ACM Trans. Math. Softw. 30(3), 353\u2013376 (2004)","journal-title":"ACM Trans. Math. Softw."},{"key":"51_CR21","unstructured":"Dellaert, F.: Factor graphs and GTSAM: a hands-on introduction. Technical report GT-RIM-CP&R-2012-002, GT RIM (2012)"},{"key":"51_CR22","doi-asserted-by":"crossref","unstructured":"Nikolic, J., Rehder, J., Burri, M., Gohl, P., Leutenegger, S., Furgale, P.T., Siegwart, R.: A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM. In: ICRA (2014)","DOI":"10.1109\/ICRA.2014.6906892"},{"key":"51_CR23","doi-asserted-by":"crossref","unstructured":"Oettershagen, P., Stastny, T.J., Mantel, T., Melzer, A., Rudin, K., Agamennoni, G., Alexis, K., Siegwart, R.: Long-endurance sensing and mapping using a hand-launchable solar-powered UAV. In: FSR (2015)","DOI":"10.1007\/978-3-319-27702-8_29"}],"container-title":["Lecture Notes in Computer Science","Advances in Visual Computing"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-50835-1_51","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,16]],"date-time":"2019-09-16T10:26:51Z","timestamp":1568629611000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-50835-1_51"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016]]},"ISBN":["9783319508344","9783319508351"],"references-count":23,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-50835-1_51","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016]]}}}