{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T07:21:26Z","timestamp":1740122486709,"version":"3.37.3"},"reference-count":63,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2020,1,9]],"date-time":"2020-01-09T00:00:00Z","timestamp":1578528000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,1,9]],"date-time":"2020-01-09T00:00:00Z","timestamp":1578528000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100000151","name":"Division of Industrial Innovation and Partnerships","doi-asserted-by":"publisher","award":["IIP-1161036"],"award-info":[{"award-number":["IIP-1161036"]}],"id":[{"id":"10.13039\/100000151","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000144","name":"Division of Computer and Network Systems","doi-asserted-by":"publisher","award":["CNS-1650547"],"award-info":[{"award-number":["CNS-1650547"]}],"id":[{"id":"10.13039\/100000144","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100006602","name":"Air Force Research Laboratory","doi-asserted-by":"publisher","award":["Science and Techonology sponsorship"],"award-info":[{"award-number":["Science and Techonology sponsorship"]}],"id":[{"id":"10.13039\/100006602","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000181","name":"Air Force Office of Scientific Research","doi-asserted-by":"publisher","award":["32 CFR 168a"],"award-info":[{"award-number":["32 CFR 168a"]}],"id":[{"id":"10.13039\/100000181","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1007\/s10514-019-09899-4","type":"journal-article","created":{"date-parts":[[2020,1,9]],"date-time":"2020-01-09T18:02:54Z","timestamp":1578592974000},"page":"811-830","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Relative navigation of autonomous GPS-degraded micro air vehicles"],"prefix":"10.1007","volume":"44","author":[{"given":"David O.","family":"Wheeler","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9845-5710","authenticated-orcid":false,"given":"Daniel P.","family":"Koch","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James S.","family":"Jackson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gary J.","family":"Ellingson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paul W.","family":"Nyholm","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Timothy W.","family":"McLain","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Randal W.","family":"Beard","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,1,9]]},"reference":[{"key":"9899_CR1","doi-asserted-by":"crossref","unstructured":"Agarwal, P., Tipaldi, G. D., Spinello, L., Stachniss, C., & Burgard, W. (2013). Robust map optimization using dynamic covariance scaling. In IEEE international conference on robotics and automation (pp. 62\u201369)","DOI":"10.1109\/ICRA.2013.6630557"},{"issue":"4","key":"9899_CR2","doi-asserted-by":"publisher","first-page":"217","DOI":"10.1260\/175682909790291492","volume":"1","author":"A Bachrach","year":"2010","unstructured":"Bachrach, A., He, R., & Roy, N. (2010). Autonomous flight in unknown indoor environments. International Journal of Micro Air Vehicles, 1(4), 217\u2013228.","journal-title":"International Journal of Micro Air Vehicles"},{"issue":"5","key":"9899_CR3","doi-asserted-by":"publisher","first-page":"644","DOI":"10.1002\/rob.20400","volume":"28","author":"A Bachrach","year":"2011","unstructured":"Bachrach, A., Prentice, S., & Roy, N. (2011). RANGE-Robust autonomous navigation in GPS-denied environments. Journal of Field Robotics, 28(5), 644\u2013666.","journal-title":"Journal of Field Robotics"},{"key":"9899_CR4","doi-asserted-by":"crossref","unstructured":"Bailey, T., Nieto, J., Guivant, J., Stevens, M., & Nebot, E. (2006). Consistency of the EKF-SLAM algorithm. In IEEE\/RSJ international conference on intelligent robots and systems (pp. 3562\u20133568).","DOI":"10.1109\/IROS.2006.281644"},{"key":"9899_CR5","doi-asserted-by":"crossref","DOI":"10.1002\/0471221279","volume-title":"Estimation with applications to tracking and navigation","author":"Y Bar-Shalom","year":"2002","unstructured":"Bar-Shalom, Y., Kirubarajan, T., & Li, X. R. (2002). Estimation with applications to tracking and navigation. New York: Wiley."},{"issue":"3","key":"9899_CR6","doi-asserted-by":"publisher","first-page":"679","DOI":"10.1109\/TRO.2014.2298059","volume":"30","author":"TD Barfoot","year":"2014","unstructured":"Barfoot, T. D., & Furgale, P. T. (2014). Associating uncertainty with three-dimensional poses for use in estimation problems. IEEE Transactions on Robotics, 30(3), 679\u2013693.","journal-title":"IEEE Transactions on Robotics"},{"key":"9899_CR7","doi-asserted-by":"crossref","unstructured":"Bl\u00f6sch, M., Weiss, S., Scaramuzza, D., & Siegwart, R. (2010). Vision based MAV navigation in unknown and unstructured environments. In IEEE international conference on robotics and automation (pp. 21\u201328)","DOI":"10.1109\/ROBOT.2010.5509920"},{"issue":"6","key":"9899_CR8","doi-asserted-by":"publisher","first-page":"1371","DOI":"10.1109\/TRO.2014.2347571","volume":"30","author":"N Carlevaris-Bianco","year":"2014","unstructured":"Carlevaris-Bianco, N., Kaess, M., & Eustice, R. M. (2014). Generic node removal for factor-graph SLAM. IEEE Transactions on Robotics, 30(6), 1371\u20131385.","journal-title":"IEEE Transactions on Robotics"},{"key":"9899_CR9","doi-asserted-by":"crossref","unstructured":"Carlone, L., Kira, Z., Beall, C., Indelman, V., & Dellaert, F. (2014). Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors. In IEEE international conference on robotics and automation (pp. 4290\u20134297).","DOI":"10.1109\/ICRA.2014.6907483"},{"key":"9899_CR10","doi-asserted-by":"crossref","unstructured":"Censi, A. (2008). An ICP variant using a point-to-line metric. In IEEE international conference on robotics and automation (pp. 19\u201325).","DOI":"10.1109\/ROBOT.2008.4543181"},{"key":"9899_CR11","doi-asserted-by":"crossref","unstructured":"Chambers, A., Scherer, S., Yoder, L., Jain, S., Nuske, S., & Singh, S. (2014). Robust multi-sensor fusion for micro aerial vehicle navigation in GPS-degraded\/denied environments. In American control conference (pp. 1892\u20131899).","DOI":"10.1109\/ACC.2014.6859341"},{"issue":"1","key":"9899_CR12","first-page":"3","volume":"18","author":"KS Chong","year":"1999","unstructured":"Chong, K. S., & Kleeman, L. (1999). Feature-based mapping in real, large scale environments using an ultrasonic array. International Journal of Robotics Research, 18(1), 3\u201319.","journal-title":"International Journal of Robotics Research"},{"issue":"3","key":"9899_CR13","doi-asserted-by":"publisher","first-page":"415","DOI":"10.1002\/rob.21454","volume":"30","author":"G Chowdhary","year":"2013","unstructured":"Chowdhary, G., Johnson, E. N., Magree, D., Wu, A., & Shein, A. (2013). GPS-denied indoor and outdoor monocular vision-aided navigation and control of unmanned aircraft. Journal of Field Robotics, 30(3), 415\u2013438.","journal-title":"Journal of Field Robotics"},{"issue":"9","key":"9899_CR14","doi-asserted-by":"publisher","first-page":"1100","DOI":"10.1177\/0278364910385483","volume":"30","author":"M Cummins","year":"2011","unstructured":"Cummins, M., & Newman, P. (2011). Appearance-only SLAM at large scale with FAB-MAP 2.0. International Journal of Robotics Research, 30(9), 1100\u20131123.","journal-title":"International Journal of Robotics Research"},{"issue":"12","key":"9899_CR15","doi-asserted-by":"publisher","first-page":"1181","DOI":"10.1177\/0278364906072768","volume":"25","author":"F Dellaert","year":"2006","unstructured":"Dellaert, F., & Kaess, M. (2006). Square root SAM: Simultaneous localization and mapping via square root information smoothing. International Journal of Robotics Research, 25(12), 1181\u20131203.","journal-title":"International Journal of Robotics Research"},{"issue":"6","key":"9899_CR16","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1145\/358669.358692","volume":"24","author":"MA Fischler","year":"1981","unstructured":"Fischler, M. A., & Bolles, R. C. (1981). Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM, 24(6), 381\u2013395.","journal-title":"Communications of the ACM"},{"key":"9899_CR17","unstructured":"Forster, C., Carlone, L., Dellaert, F., & Scaramuzza, D. (2015). IMU preintegration on manifold for efficient visual-inertial maximum-a-posteriori estimation (pp. 6\u201315). Robotics: Science and Systems."},{"issue":"2","key":"9899_CR18","doi-asserted-by":"publisher","first-page":"78","DOI":"10.1109\/MRA.2012.2182810","volume":"19","author":"F Fraundorfer","year":"2012","unstructured":"Fraundorfer, F., & Scaramuzza, D. (2012). Visual odometry: Part II: Matching, robustness, optimization, and applications. IEEE Robotics and Automation Magazine, 19(2), 78\u201390.","journal-title":"IEEE Robotics and Automation Magazine"},{"key":"9899_CR19","unstructured":"Glover, A., Maddern, W., Warren, M., Reid, S., Milford, M., & Wyeth, G. (2012). OpenFABMAP: An open source toolbox for appearance-based loop closure detection. In: IEEE international conference on robotics and automation (pp. 4730\u20134735)."},{"issue":"4","key":"9899_CR20","first-page":"31","volume":"2","author":"G Grisetti","year":"2010","unstructured":"Grisetti, G., Kummerle, R., Stachniss, C., & Burgard, W. (2010). A tutorial on graph-based SLAM. Intelligent Transportation Systems Council, 2(4), 31\u201343.","journal-title":"Intelligent Transportation Systems Council"},{"issue":"1","key":"9899_CR21","doi-asserted-by":"publisher","first-page":"90","DOI":"10.1109\/TRO.2011.2162999","volume":"28","author":"S Grzonka","year":"2012","unstructured":"Grzonka, S., Grisetti, G., & Burgard, W. (2012). A fully autonomous indoor quadrotor. IEEE Transactions on Robotics, 28(1), 90\u2013100.","journal-title":"IEEE Transactions on Robotics"},{"key":"9899_CR22","unstructured":"Gutmann, J. S., & Schlegel, C. (1996). AMOS: Comparison of scan matching approaches for self-localization in indoor environments. In: Proceedings of the 1st Euromicro workshop on advanced mobile robots (pp. 61\u201367)."},{"key":"9899_CR23","unstructured":"Jackson, J., Nielsen, J., McLain, T., & Beard, R. (2019). Improving the robustness of visual-inertial extended Kalman filtering. In: IEEE international conference on robotics and automation."},{"key":"9899_CR24","doi-asserted-by":"crossref","unstructured":"Jackson, J. S., Ellingson, G. S., & McLain, T. W. (2016a). ROSflight: a lightweight, inexpensive MAV research and development tool. In International conference on unmanned aircraft systems (pp. 758\u2013762).","DOI":"10.1109\/ICUAS.2016.7502584"},{"key":"9899_CR25","doi-asserted-by":"crossref","unstructured":"Jackson, J.S., Wheeler, D.O., & McLain, T.W. (2016b). Cushioned extended-periphery avoidance: A reactive obstacle avoidance plugin. In International conference on unmanned aircraft systems (pp. 399\u2013405).","DOI":"10.1109\/ICUAS.2016.7502597"},{"key":"9899_CR26","unstructured":"Jones, E., Vedaldi, A., & Soatto, S. (2007). Inertial structure from motion with autocalibration. In ICCV workshop on dynamical vision."},{"issue":"6","key":"9899_CR27","doi-asserted-by":"publisher","first-page":"1365","DOI":"10.1109\/TRO.2008.2006706","volume":"24","author":"M Kaess","year":"2008","unstructured":"Kaess, M., Ranganathan, A., & Dellaert, F. (2008). iSAM: Incremental smoothing and mapping. IEEE Transactions on Robotics, 24(6), 1365\u20131378.","journal-title":"IEEE Transactions on Robotics"},{"issue":"2","key":"9899_CR28","doi-asserted-by":"publisher","first-page":"216","DOI":"10.1177\/0278364911430419","volume":"31","author":"M Kaess","year":"2012","unstructured":"Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J. J., & Dellaert, F. (2012). iSAM2: Incremental smoothing and mapping using the Bayes tree. International Journal of Robotics Research, 31(2), 216\u2013235.","journal-title":"International Journal of Robotics Research"},{"key":"9899_CR29","unstructured":"Kim, B., Kaess, M., Fletcher, L., Leonard, J., Bachrach, A., Roy, N., & Teller, S. (2010). Multiple relative pose graphs for robust cooperative mapping. In IEEE International Conference on Robotics and Automation (pp. 3185\u20133192)"},{"key":"9899_CR30","doi-asserted-by":"crossref","unstructured":"Koch, D. P., McLain, T. W., & Brink, K. M. (2016). Multi-sensor robust relative estimation framework for GPS-denied multirotor aircraft. In International Conference on Unmanned Aircraft Systems (pp. 589\u2013597).","DOI":"10.1109\/ICUAS.2016.7502619"},{"key":"9899_CR31","unstructured":"Koch, D. P., Wheeler, D. O., Beard, R. W., McLain, T. W., & Brink, K. M. (2017). Relative multiplicative extended Kalman filter for observable GPS-denied navigation. http:\/\/scholarsarchive.byu.edu\/facpub\/1963"},{"key":"9899_CR32","doi-asserted-by":"crossref","unstructured":"Kummerle, R., Grisetti, G., Strasdat, H., Konolige, K., & Burgard, W. (2011). g2o: A general framework for graph optimization. In IEEE international conference on robotics and automation (pp. 3607\u20133613).","DOI":"10.1109\/ICRA.2011.5979949"},{"issue":"14","key":"9899_CR33","doi-asserted-by":"publisher","first-page":"1611","DOI":"10.1177\/0278364913498910","volume":"32","author":"Y Latif","year":"2013","unstructured":"Latif, Y., Cadena, C., & Neira, J. (2013). Robust loop closing over time for pose graph SLAM. International Journal of Robotics Research, 32(14), 1611\u20131626.","journal-title":"International Journal of Robotics Research"},{"issue":"1","key":"9899_CR34","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1007\/s10846-013-9914-7","volume":"74","author":"RC Leishman","year":"2014","unstructured":"Leishman, R. C., McLain, T. W., & Beard, R. W. (2014). Relative navigation approach for vision-based aerial GPS-denied navigation. Journal of Intelligent and Robotic Systems, 74(1), 97\u2013111.","journal-title":"Journal of Intelligent and Robotic Systems"},{"issue":"3","key":"9899_CR35","doi-asserted-by":"publisher","first-page":"314","DOI":"10.1177\/0278364914554813","volume":"34","author":"S Leutenegger","year":"2015","unstructured":"Leutenegger, S., Lynen, S., Bosse, M., Siegwart, R., & Furgale, P. (2015). Keyframe-based visual-inertial odometry using nonlinear optimization. International Journal of Robotics Research, 34(3), 314\u2013334.","journal-title":"International Journal of Robotics Research"},{"key":"9899_CR36","doi-asserted-by":"crossref","unstructured":"Long, A., Wolfe, K., Mashner, M., & Chirikjian, G. (2012). The banana distribution is Gaussian: A localization study with exponential coordinates. In Robotics: science and systems (p.\u00a08)","DOI":"10.15607\/RSS.2012.VIII.034"},{"issue":"1","key":"9899_CR37","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2015.2496823","volume":"32","author":"S Lowry","year":"2016","unstructured":"Lowry, S., Sunderhauf, N., Newman, P., Leonard, J. J., Cox, D., Corke, P., et al. (2016). Visual place recognition: A survey. IEEE Transactions on Robotics, 32(1), 1\u201319.","journal-title":"IEEE Transactions on Robotics"},{"issue":"1","key":"9899_CR38","doi-asserted-by":"publisher","first-page":"44","DOI":"10.1109\/TRO.2011.2160468","volume":"28","author":"A Martinelli","year":"2012","unstructured":"Martinelli, A. (2012). Vision and IMU data fusion: Closed-form solutions for attitude, speed, absolute scale, and bias determination. IEEE Transactions on Robotics, 28(1), 44\u201360.","journal-title":"IEEE Transactions on Robotics"},{"issue":"3","key":"9899_CR39","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1109\/MRA.2010.937855","volume":"17","author":"N Michael","year":"2010","unstructured":"Michael, N., Mellinger, D., Lindsey, Q., & Kumar, V. (2010). The GRASP multiple micro-UAV testbed. IEEE Robotics and Automation Magazine, 17(3), 56\u201365.","journal-title":"IEEE Robotics and Automation Magazine"},{"key":"9899_CR40","unstructured":"Moore, D., Huang, A., Walter, M., Olson, E., Fletcher, L., Leonard, J., & Teller, S. (2009). Simultaneous local and global state estimation for robotic navigation. In: IEEE international conference on robotics and automation (pp. 3794\u20133799)."},{"key":"9899_CR41","first-page":"2161","volume":"2","author":"D Nister","year":"2006","unstructured":"Nister, D., & Stewenius, H. (2006). Scalable recognition with a vocabulary tree. IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2, 2161\u20132168.","journal-title":"IEEE Computer Society Conference on Computer Vision and Pattern Recognition"},{"issue":"7","key":"9899_CR42","doi-asserted-by":"publisher","first-page":"826","DOI":"10.1177\/0278364913479413","volume":"32","author":"E Olson","year":"2013","unstructured":"Olson, E., & Agarwal, P. (2013). Inference on networks of mixtures for robust robot mapping. International Journal of Robotics Research, 32(7), 826\u2013840.","journal-title":"International Journal of Robotics Research"},{"key":"9899_CR43","doi-asserted-by":"crossref","unstructured":"Olson, E., Leonard, J., & Teller, S. (2006). Fast iterative alignment of pose graphs with poor initial estimates. In IEEE international conference on robotics and automation (pp. 2262\u20132269)","DOI":"10.1109\/ROBOT.2006.1642040"},{"key":"9899_CR44","unstructured":"PricewaterhouseCoopers. (2016). Clarity from above: PwC global report on commercial applications of drone technology. https:\/\/www.pwc.pl\/pl\/pdf\/clarity-from-above-pwc.pdf. Accessed March 30, 2017."},{"key":"9899_CR45","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., & Ng, A. Y. (2009). ROS: An open-source robot operating system. In: ICRA workshop on open source software."},{"issue":"1","key":"9899_CR46","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1016\/j.automatica.2009.10.018","volume":"46","author":"GV Raffo","year":"2010","unstructured":"Raffo, G. V., Ortega, M. G., & Rubio, F. R. (2010). An integral predictive\/nonlinear H-infinity control structure for a quadrotor helicopter. Automatica, 46(1), 29\u201339.","journal-title":"Automatica"},{"key":"9899_CR47","doi-asserted-by":"crossref","unstructured":"Rehder, J., Gupta, K., Nuske, S., & Singh, S. (2012). Global pose estimation with limited GPS and long range visual odometry. In: IEEE international conference on robotics and automation (pp. 627\u2013633)","DOI":"10.1109\/ICRA.2012.6225277"},{"key":"9899_CR48","doi-asserted-by":"crossref","unstructured":"Roumeliotis, S.I., & Burdick, J. (2002). Stochastic cloning: a generalized framework for processing relative state measurements. In IEEE International Conference on Robotics and Automation (pp. 1788\u20131795)","DOI":"10.1109\/ROBOT.2002.1014801"},{"issue":"4","key":"9899_CR49","doi-asserted-by":"publisher","first-page":"80","DOI":"10.1109\/MRA.2011.943233","volume":"18","author":"D Scaramuzza","year":"2011","unstructured":"Scaramuzza, D., & Fraundorfer, F. (2011). Visual odometry: Part I: The first 30 years and fundamentals. IEEE Robotics and Automation Magazine, 18(4), 80\u201392.","journal-title":"IEEE Robotics and Automation Magazine"},{"issue":"3","key":"9899_CR50","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1109\/MRA.2014.2322295","volume":"21","author":"D Scaramuzza","year":"2014","unstructured":"Scaramuzza, D., Achtelik, M. C., Doitsidis, L., Friedrich, F., Kosmatopoulos, E., Martinelli, A., et al. (2014). Vision-controlled micro flying robots: From system design to autonomous navigation and mapping in GPS-denied environments. IEEE Robotics and Automation Magazine, 21(3), 26\u201340.","journal-title":"IEEE Robotics and Automation Magazine"},{"issue":"1","key":"9899_CR51","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1007\/s10514-012-9293-0","volume":"33","author":"S Scherer","year":"2012","unstructured":"Scherer, S., Rehder, J., Achar, S., Cover, H., Chambers, A., Nuske, S., et al. (2012). River mapping from a flying robot: State estimation, river detection, and obstacle mapping. Autonomous Robots, 33(1), 189\u2013214.","journal-title":"Autonomous Robots"},{"key":"9899_CR52","doi-asserted-by":"crossref","unstructured":"Scherer, S., Yang, S., & Zell, A. (2015). DCTAM: Drift-corrected tracking and mapping for autonomous micro aerial vehicles. In International conference on unmanned aircraft systems (pp. 1094\u20131101).","DOI":"10.1109\/ICUAS.2015.7152401"},{"key":"9899_CR53","doi-asserted-by":"crossref","unstructured":"Shen, S., Mulgaonkar, Y., Michael, N., & Kumar, V. (2014). Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft MAV. In IEEE international conference on robotics and automation (pp 4974\u20134981).","DOI":"10.1109\/ICRA.2014.6907588"},{"key":"9899_CR54","doi-asserted-by":"crossref","unstructured":"Sibley, D., Mei, C., Reid, I.D., & Newman, P. (2009). Adaptive relative bundle adjustment. In Robotics: Science and Systems","DOI":"10.15607\/RSS.2009.V.023"},{"key":"9899_CR55","first-page":"1470","volume":"2","author":"Zisserman Sivic","year":"2003","unstructured":"Sivic, Zisserman. (2003). Video Google: A text retrieval approach to object matching in videos. IEEE International Conference on Computer Vision, 2, 1470\u20131477.","journal-title":"IEEE International Conference on Computer Vision"},{"key":"9899_CR56","unstructured":"Sunderhauf, N., & Protzel, P. (2013). Switchable constraints vs. max-mixture models vs. RRR\u2014a comparison of three approaches to robust pose graph SLAM. In IEEE international conference on robotics and automation (pp. 5198\u20135203)"},{"key":"9899_CR57","volume-title":"Probabilistic robotics","author":"S Thrun","year":"2005","unstructured":"Thrun, S., Burgard, W., & Fox, D. (2005). Probabilistic robotics. Cambridge: MIT Press."},{"issue":"3","key":"9899_CR58","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/MRA.2012.2206473","volume":"19","author":"T Tomic","year":"2012","unstructured":"Tomic, T., Schmid, K., Lutz, P., Domel, A., Kassecker, M., Mair, E., et al. (2012). Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue. IEEE Robotics and Automation Magazine, 19(3), 46\u201356.","journal-title":"IEEE Robotics and Automation Magazine"},{"key":"9899_CR59","doi-asserted-by":"crossref","unstructured":"Weiss, S., & Siegwart, R. (2011). Real-time metric state estimation for modular vision-inertial systems. In IEEE international conference on robotics and automation (pp. 4531\u20134537).","DOI":"10.1109\/ICRA.2011.5979982"},{"key":"9899_CR60","doi-asserted-by":"crossref","unstructured":"Weiss, S., Achtelik, M. W., Lynen, S., Chli, M., & Siegwart, R. (2012). Real-time onboard visual-inertial state estimation and self-calibration of MAVs in unknown environments. In IEEE International Conference on Robotics and Automation (pp. 957\u2013964).","DOI":"10.1109\/ICRA.2012.6225147"},{"key":"9899_CR61","doi-asserted-by":"crossref","unstructured":"Wheeler, D. O., Nyholm, P. W., Koch, D. P., Ellingson, G. J., McLain, T. W., & Beard, R. W. (2016). Relative navigation in GPS-degraded environments. In Encyclopedia of aerospace engineering (pp. 1\u201310). Hoboken: Wiley","DOI":"10.1002\/9780470686652.eae1154"},{"issue":"4","key":"9899_CR62","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1109\/MCS.2018.2830079","volume":"38","author":"DO Wheeler","year":"2018","unstructured":"Wheeler, D. O., Koch, D. P., Jackson, J. S., Mclain, T. W., & Beard, R. W. (2018). Relative navigation: A keyframe-based approach for observable GPS-degraded navigation. IEEE Control Systems Magazine, 38(4), 30\u201348.","journal-title":"IEEE Control Systems Magazine"},{"key":"9899_CR63","doi-asserted-by":"crossref","unstructured":"Zhang, J., Kaess, M., & Singh, S. (2014). Real-time depth enhanced monocular odometry. In IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a04973\u20134980).","DOI":"10.1109\/IROS.2014.6943269"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-019-09899-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-019-09899-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-019-09899-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,9,24]],"date-time":"2023-09-24T22:40:04Z","timestamp":1695595204000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-019-09899-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,9]]},"references-count":63,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["9899"],"URL":"https:\/\/doi.org\/10.1007\/s10514-019-09899-4","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"type":"print","value":"0929-5593"},{"type":"electronic","value":"1573-7527"}],"subject":[],"published":{"date-parts":[[2020,1,9]]},"assertion":[{"value":"22 May 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 December 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 January 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}