{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:14:28Z","timestamp":1766067268167,"version":"3.40.3"},"publisher-location":"Singapore","reference-count":14,"publisher":"Springer Singapore","isbn-type":[{"type":"print","value":"9789811594595"},{"type":"electronic","value":"9789811594601"}],"license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"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":[[2021]]},"DOI":"10.1007\/978-981-15-9460-1_12","type":"book-chapter","created":{"date-parts":[[2021,1,13]],"date-time":"2021-01-13T14:30:31Z","timestamp":1610548231000},"page":"159-172","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["VI-SLAM for Subterranean Environments"],"prefix":"10.1007","author":[{"given":"Andrew","family":"Kramer","sequence":"first","affiliation":[]},{"given":"Mike","family":"Kasper","sequence":"additional","affiliation":[]},{"given":"Christoffer","family":"Heckman","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,1,13]]},"reference":[{"unstructured":"Darpa subterranean (subt) challenge. https:\/\/www.darpa.mil\/program\/darpa-subterranean-challenge","key":"12_CR1"},{"key":"12_CR2","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.M.M., Tard\u00f3s, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE Trans. Robot. 31, 1147\u20131163 (2015)","journal-title":"IEEE Trans. Robot."},{"issue":"1","key":"12_CR3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2018.2872402","volume":"35","author":"L Carlone","year":"2019","unstructured":"Carlone, L., Karaman, S.: Attention and anticipation in fast visual-inertial navigation. IEEE Trans. Robot. 35(1), 1\u201320 (2019)","journal-title":"IEEE Trans. Robot."},{"doi-asserted-by":"crossref","unstructured":"Besl, P.J., McKay, N.D.: A method for registration of 3-d shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14(2), 239\u2013256 (1992.) http:\/\/dblp.uni-trier.de\/db\/journals\/pami\/pami14.html#BeslM92","key":"12_CR4","DOI":"10.1109\/34.121791"},{"doi-asserted-by":"crossref","unstructured":"Mourikis, A.I., Roumeliotis, S.I.: A multi-state constraint kalman filter for vision-aided inertial navigation. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 3565\u20133572 (2007)","key":"12_CR5","DOI":"10.1109\/ROBOT.2007.364024"},{"unstructured":"Sibley, G.: A sliding window filter for slam (2006)","key":"12_CR6"},{"unstructured":"Leutenegger, S., Lynen, S., Bosse, M., Siegwart, R., Furgale, P.T.: Keyframe-based visual\u2013inertial odometry using nonlinear optimization. Int. J. Robot. Res. (IJRR) (2016)","key":"12_CR7"},{"unstructured":"Qin, T., Pan, J., Cao, S., Shen, S.: A general optimization-based framework for local odometry estimation with multiple sensors (2019)","key":"12_CR8"},{"doi-asserted-by":"crossref","unstructured":"Scherer, S., Dub\u00e9, D., Zell, A.: Using depth in visual simultaneous localisation and mapping. In: 2012 IEEE International Conference on Robotics and Automation, pp. 5216\u20135221 (2012)","key":"12_CR9","DOI":"10.1109\/ICRA.2012.6224864"},{"doi-asserted-by":"publisher","unstructured":"Forster, C., Carlone, L., Dellaert, F., Scaramuzza, D.: On-manifold preintegration for real-time visual\u2013inertial odometry. IEEE Trans. Robot. 33(1), 1\u201321 (2017). ISSN 1552-3098, 1941-0468. https:\/\/doi.org\/10.1109\/TRO.2016.2597321. https:\/\/ieeexplore.ieee.org\/document\/7557075\/","key":"12_CR10","DOI":"10.1109\/TRO.2016.2597321"},{"doi-asserted-by":"publisher","unstructured":"Nobre, F., Heckman, C.R., Sibley, G.T.: Multi-sensor slam with online self-calibration and change detection, pp. 764\u2013774, 03 2017. ISBN 978-3-319-50114-7. https:\/\/doi.org\/10.1007\/978-3-319-50115-4_66","key":"12_CR11","DOI":"10.1007\/978-3-319-50115-4_66"},{"doi-asserted-by":"publisher","unstructured":"Leutenegger, S., Chli, M., Siegwart, R.Y.: Brisk: binary robust invariant scalable keypoints. In: Proceedings of the 2011 International Conference on Computer Vision, ICCV \u201911, pp. 2548\u20132555. Washington, DC, USA, 2011. IEEE Computer Society. ISBN 978-1-4577-1101-5. https:\/\/doi.org\/10.1109\/ICCV.2011.6126542","key":"12_CR12","DOI":"10.1109\/ICCV.2011.6126542"},{"doi-asserted-by":"publisher","unstructured":"Olson, E.: AprilTag: a robust and flexible visual fiducial system. In: 2011 IEEE International Conference on Robotics and Automation, pp. 3400\u20133407. Shanghai, China, May 2011, IEEE. ISBN 978-1-61284-386-5. https:\/\/doi.org\/10.1109\/ICRA.2011.5979561. http:\/\/ieeexplore.ieee.org\/document\/5979561\/","key":"12_CR13","DOI":"10.1109\/ICRA.2011.5979561"},{"doi-asserted-by":"publisher","unstructured":"Wang, J., Olson, E.: AprilTag 2: efficient and robust fiducial detection. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4193\u20134198. Daejeon, South Korea, October 2016. IEEE. ISBN 978-1-5090-3762-9. https:\/\/doi.org\/10.1109\/IROS.2016.7759617. http:\/\/ieeexplore.ieee.org\/document\/7759617\/","key":"12_CR14","DOI":"10.1109\/IROS.2016.7759617"}],"container-title":["Springer Proceedings in Advanced Robotics","Field and Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-15-9460-1_12","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,13]],"date-time":"2021-01-13T15:04:25Z","timestamp":1610550265000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-981-15-9460-1_12"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"ISBN":["9789811594595","9789811594601"],"references-count":14,"URL":"https:\/\/doi.org\/10.1007\/978-981-15-9460-1_12","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"type":"print","value":"2511-1256"},{"type":"electronic","value":"2511-1264"}],"subject":[],"published":{"date-parts":[[2021]]},"assertion":[{"value":"13 January 2021","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}