{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,25]],"date-time":"2026-01-25T05:35:31Z","timestamp":1769319331300,"version":"3.49.0"},"publisher-location":"Berlin, Heidelberg","reference-count":10,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"value":"9783642001956","type":"print"},{"value":"9783642001963","type":"electronic"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009]]},"DOI":"10.1007\/978-3-642-00196-3_43","type":"book-chapter","created":{"date-parts":[[2009,3,27]],"date-time":"2009-03-27T06:13:22Z","timestamp":1238134402000},"page":"373-382","source":"Crossref","is-referenced-by-count":86,"title":["A First-Estimates Jacobian EKF for Improving SLAM Consistency"],"prefix":"10.1007","author":[{"given":"Guoquan P.","family":"Huang","sequence":"first","affiliation":[]},{"given":"Anastasios I.","family":"Mourikis","sequence":"additional","affiliation":[]},{"given":"Stergios I.","family":"Roumeliotis","sequence":"additional","affiliation":[]}],"member":"297","reference":[{"key":"43_CR1","doi-asserted-by":"crossref","unstructured":"Julier, S., Uhlmann, J.: A counter example to the theory of simultaneous localization and map building. In: IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001, pp. 4238\u20134243 (2001)","DOI":"10.1109\/ROBOT.2001.933280"},{"key":"43_CR2","doi-asserted-by":"crossref","unstructured":"Castellanos, J.A., Neira, J., Tardos, J.: Limits to the consistency of EKF-based SLAM. In: 5th IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, July 2004, pp. 1244\u20131249 (2004)","DOI":"10.1016\/S1474-6670(17)32063-3"},{"issue":"1","key":"43_CR3","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/j.robot.2006.06.005","volume":"55","author":"J.A. Castellanos","year":"2007","unstructured":"Castellanos, J.A., Martinez-Cantin, R., Tardos, J., Neira, J.: Robocentric map joining: Improving the consistency of EKF-SLAM. Robotics and Autonomous Systems\u00a055(1), 21\u201329 (2007)","journal-title":"Robotics and Autonomous Systems"},{"key":"43_CR4","doi-asserted-by":"crossref","unstructured":"Bailey, T., Nieto, J., Guivant, J., Stevens, M., Nebot, E.: Consistency of the EKF-SLAM algorithm. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 2006, pp. 3562\u20133568 (2006)","DOI":"10.1109\/IROS.2006.281644"},{"key":"43_CR5","unstructured":"Huang, S., Dissanayake, G.: Convergence analysis for extended Kalman filter based SLAM. In: IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, May 2006, pp. 412\u2013417 (2006)"},{"issue":"5","key":"43_CR6","doi-asserted-by":"publisher","first-page":"1036","DOI":"10.1109\/TRO.2007.903811","volume":"23","author":"S. Huang","year":"2007","unstructured":"Huang, S., Dissanayake, G.: Convergence and consistency analysis for extended Kalman filter based SLAM. IEEE Transactions on Robotics\u00a023(5), 1036\u20131049 (2007)","journal-title":"IEEE Transactions on Robotics"},{"key":"43_CR7","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279","volume-title":"Estimation with applications to tracking and navigation","author":"Y. Bar-Shalom","year":"2001","unstructured":"Bar-Shalom, Y., Li, X.R., Kirubarajan, T.: Estimation with applications to tracking and navigation. Wiley, New York (2001)"},{"key":"43_CR8","doi-asserted-by":"crossref","unstructured":"Lee, K.W., Wijesoma, W.S., Guzman, J.I.: On the observability and observability analysis of SLAM. In: IEEE\/RSJ Intenational Conference on Intelligent Robots and Systems (IROS), Beijing, China, October 2006, pp. 3569\u20133574 (2006)","DOI":"10.1109\/IROS.2006.281646"},{"key":"43_CR9","doi-asserted-by":"crossref","unstructured":"Chen, Z., Jiang, K., Hung, J.C.: Local observability matrix and its application to observability analyses. In: 16th Annual Conference of IEEE (IECON 1990), Pacific Grove, CA, November 1990, pp. 100\u2013103 (1990)","DOI":"10.1109\/IECON.1990.149118"},{"key":"43_CR10","doi-asserted-by":"crossref","unstructured":"Huang, G., Mourikis, A., Roumeliotis, S.: Genearalized analysis and improvement of the consistency for EKF-based SLAM. Technical report, University of Minnesota, Minneapolis, MN (January 2008), http:\/\/www.cs.umn.edu\/~ghuang\/paper\/TR_slam_genconsistency.pdf","DOI":"10.1109\/ROBOT.2008.4543252"}],"container-title":["Springer Tracts in Advanced Robotics","Experimental Robotics"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-00196-3_43.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,30]],"date-time":"2021-04-30T10:14:40Z","timestamp":1619777680000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-00196-3_43"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009]]},"ISBN":["9783642001956","9783642001963"],"references-count":10,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-00196-3_43","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"value":"1610-7438","type":"print"},{"value":"1610-742X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009]]}}}