{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,5]],"date-time":"2025-06-05T04:53:24Z","timestamp":1749099204689,"version":"3.37.3"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2022,9,19]],"date-time":"2022-09-19T00:00:00Z","timestamp":1663545600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,9,19]],"date-time":"2022-09-19T00:00:00Z","timestamp":1663545600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Nova Scotia Graduate Scholarship"},{"name":"Irving Shipbuilding Chair in Marine Engineering and Autonomous Systems"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,10]]},"DOI":"10.1007\/s10846-022-01739-5","type":"journal-article","created":{"date-parts":[[2022,9,19]],"date-time":"2022-09-19T04:02:42Z","timestamp":1663560162000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Piecewise-deterministic Quasi-static Pose Graph SLAM in Unstructured Dynamic Environments"],"prefix":"10.1007","volume":"106","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7367-2604","authenticated-orcid":false,"given":"Amy","family":"Deeb","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7835-981X","authenticated-orcid":false,"given":"Mae","family":"Seto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8700-0956","authenticated-orcid":false,"given":"Ya-Jun","family":"Pan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,9,19]]},"reference":[{"key":"1739_CR1","doi-asserted-by":"crossref","unstructured":"Durrant-Whyte, H. F., Bailey, T.: Simultaneous localization and mapping: Part I. IEEE Robot. Autom. Mag. 99\u2013108 (2006)","DOI":"10.1109\/MRA.2006.1638022"},{"key":"1739_CR2","doi-asserted-by":"publisher","unstructured":"Bailey, T., Durrant-Whyte, H.F.: Simultaneous Localization and Mapping (SLAM): Part II. IEEE Robotics and Automation Magazine, 108\u2013117. https:\/\/doi.org\/10.1109\/MRA.2006.1678144 (2006)","DOI":"10.1109\/MRA.2006.1678144"},{"key":"1739_CR3","unstructured":"Thrun, S., Burgard, W., Fox, D.: Probabilistic robotics the. MIT Press (2006)"},{"issue":"1","key":"1739_CR4","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1002\/rob.21620","volume":"33","author":"S Saeedi","year":"2016","unstructured":"Saeedi, S., Trentini, M., Seto, M. L., Li, H.: Multiple-Robot Simultaneous localization and mapping: a review. J. Field Robot. 33(1), 3\u201346 (2016)","journal-title":"J. Field Robot."},{"key":"1739_CR5","doi-asserted-by":"publisher","unstructured":"Deeb, A., Seto, M. L., Pan, Y. J.: Model-based dynamic pose graph SLAM in unstructured dynamic environments. In: International Conference on Advanced Robotics (ICAR), pp. 123\u2013128. https:\/\/doi.org\/10.1109\/icar46387.2019.8981632 (2019)","DOI":"10.1109\/icar46387.2019.8981632"},{"key":"1739_CR6","doi-asserted-by":"crossref","unstructured":"Deeb, A., Pan, Y. J., Seto, M. L.: Model-Based Quasi-Static Graph SLAM in Unstructured Dynamic Environments. In: International Conference on Automation Science and Engineering (CASE), pp. 196\u2013201 (2021)","DOI":"10.1109\/CASE49439.2021.9551623"},{"key":"1739_CR7","unstructured":"Deeb, A.: Persistent mapping in quasi-static dynamic environments using unmanned aerial vehicles. Ph.D. Thesis Dalhousie University (2021)"},{"key":"1739_CR8","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1023\/A:1007957421070","volume":"18","author":"F Lu","year":"1997","unstructured":"Lu, F., Milios, E.: Robot pose estimation in unknown environments by matching 2D range scans. J. Intell. Robot. Syst. 18, 249\u2013275 (1997)","journal-title":"J. Intell. Robot. Syst."},{"key":"1739_CR9","doi-asserted-by":"crossref","unstructured":"Grisetti, G., Kummerle, R., Stachniss, C., Burgard, W.: A tutorial on Graph-Based SLAM. IEEE Intell. Transp. Syst. Mag. 31\u201343 (2010)","DOI":"10.1109\/MITS.2010.939925"},{"issue":"12","key":"1739_CR10","doi-asserted-by":"publisher","first-page":"1181","DOI":"10.1177\/0278364906072768","volume":"25","author":"F Dellaert","year":"2006","unstructured":"Dellaert, F., Kaess, M.: Square Root SAM: Simultaneous location and mapping via square root information smoothing. Int. J. Robot. Res. 25(12), 1181\u20131203 (2006)","journal-title":"Int. J. Robot. Res."},{"key":"1739_CR11","doi-asserted-by":"publisher","unstructured":"K\u00fcmmerle, R., Grisetti, G., Strasdat, H., Konolige, K., Burgard, W.: G2o: a general framework for graph optimization. IEEE International Conference on Robotics and Automation (ICRA), 3607\u20133613. https:\/\/doi.org\/10.1109\/ICRA.2011.5979949 (2011)","DOI":"10.1109\/ICRA.2011.5979949"},{"issue":"6","key":"1739_CR12","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.: iSAM: Incremental smoothing and mapping. IEEE Trans. Robot. 24(6), 1365\u20131378 (2008). https:\/\/doi.org\/10.1109\/TRO.2008.2006706","journal-title":"IEEE Trans. Robot."},{"issue":"6","key":"1739_CR13","doi-asserted-by":"publisher","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","volume":"32","author":"C Cadena","year":"2016","unstructured":"Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., Leonard, J. J.: Past, present, and future of simultaneous localization and mapping: Toward the Robust-Perception age. IEEE Trans. Robot. 32(6), 1309\u20131332 (2016). https:\/\/doi.org\/10.1109\/TRO.2016.2624754","journal-title":"IEEE Trans. Robot."},{"key":"1739_CR14","doi-asserted-by":"publisher","unstructured":"Hahnel, D., Triebel, R., Burgard, W., Thrun, S.: Map building with mobile robots in dynamic environments. In: IEEE International Conference on Robotics and Automation (ICRA). https:\/\/doi.org\/10.1109\/ROBOT.2003.1241816, vol. 2, pp 1557\u20131563 (2003)","DOI":"10.1109\/ROBOT.2003.1241816"},{"key":"1739_CR15","doi-asserted-by":"publisher","first-page":"43563","DOI":"10.1109\/ACCESS.2020.2977684","volume":"8","author":"S Han","year":"2020","unstructured":"Han, S., Xi, Z.: Dynamic Scene Semantics SLAM Based on Semantic Segmentation. IEEE Access 8, 43563\u201343570 (2020). https:\/\/doi.org\/10.1109\/ACCESS.2020.2977684","journal-title":"IEEE Access"},{"key":"1739_CR16","doi-asserted-by":"publisher","first-page":"76809","DOI":"10.1109\/ACCESS.2020.2989480","volume":"8","author":"D Li","year":"2020","unstructured":"Li, D., Yang, W., Shi, X., Guo, D., Long, Q., Qiao, F., Wei, Q.: A visual-inertial localization method for unmanned aerial vehicle in underground tunnel dynamic environments. IEEE Access 8, 76809\u201376822 (2020). https:\/\/doi.org\/10.1109\/ACCESS.2020.2989480","journal-title":"IEEE Access"},{"key":"1739_CR17","doi-asserted-by":"publisher","first-page":"28","DOI":"10.1016\/j.robot.2014.08.008","volume":"69","author":"E Einhorn","year":"2015","unstructured":"Einhorn, E., Gross, H.-M.: Generic NDT mapping in dynamic environments and its application for lifelong SLAM. Robot. Auton. Syst. 69, 28\u201339 (2015). https:\/\/doi.org\/10.1016\/j.robot.2014.08.008","journal-title":"Robot. Auton. Syst."},{"key":"1739_CR18","doi-asserted-by":"crossref","unstructured":"Moratuwage, D., Vo, B. -N., Wang, D.: Collaborative multi-vehicle SLAM with moving object tracking. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 5702\u20135708 (2013)","DOI":"10.1109\/ICRA.2013.6631397"},{"key":"1739_CR19","doi-asserted-by":"publisher","unstructured":"Walcott-Bryant, A., Kaess, M., Johannsson, H., Leonard, J. J.: Dynamic pose graph SLAM: Long-term mapping in low dynamic environments. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1871\u20131878. https:\/\/doi.org\/10.1109\/IROS.2012.6385561 (2012)","DOI":"10.1109\/IROS.2012.6385561"},{"key":"1739_CR20","doi-asserted-by":"publisher","first-page":"1539","DOI":"10.1016\/j.robot.2013.07.003","volume":"61","author":"B Bacca","year":"2013","unstructured":"Bacca, B., Salvi, J., Cufi, X.: Long-term mapping and localization using feature stability histograms. Robot. Auton. Syst. 61, 1539\u20131558 (2013). https:\/\/doi.org\/10.1016\/j.robot.2013.07.003","journal-title":"Robot. Auton. Syst."},{"key":"1739_CR21","doi-asserted-by":"publisher","unstructured":"Dayoub, F., Cielniak, G., Duckett, T.: Eight weeks of episodic visual navigation inside a non-stationary environment using adaptive spherical views. Field and Service Robotics 379\u2013392. https:\/\/doi.org\/10.1007\/978-3-319-07488-7 (2015)","DOI":"10.1007\/978-3-319-07488-7"},{"key":"1739_CR22","doi-asserted-by":"publisher","first-page":"105","DOI":"10.1016\/j.mechatronics.2017.12.002","volume":"49","author":"MS Bahraini","year":"2018","unstructured":"Bahraini, M. S., Bozorg, M., Rad, A. B.: SLAM In dynamic environments via ML-RANSAC. Mechatronics 49, 105\u2013118 (2018). https:\/\/doi.org\/10.1016\/j.mechatronics.2017.12.002","journal-title":"Mechatronics"},{"key":"1739_CR23","doi-asserted-by":"crossref","unstructured":"Henein, M., Zhang, J., Mahony, R., Ila, V.: Dynamic SLAM: The need for speed. IEEE International Conference on Robotics and Automation (ICRA), 2123\u20132129 (2020)","DOI":"10.1109\/ICRA40945.2020.9196895"},{"issue":"December 2010","key":"1739_CR24","first-page":"3647","volume":"11","author":"JW Robinson","year":"2010","unstructured":"Robinson, J. W., Hartemink, A. J.: Learning Non-Stationary dynamic bayesian networks. J. Mach. Learn. Res. 11(December 2010), 3647\u20133680 (2010)","journal-title":"J. Mach. Learn. Res."},{"key":"1739_CR25","unstructured":"Koller, D., Friedman, N.: Probabilistic graphical models- principles and techniques the. MIT Press (2009)"},{"key":"1739_CR26","doi-asserted-by":"publisher","DOI":"10.1038\/217994a0","volume-title":"Machine Learning: a Probabilistic Perspective","author":"KP Murphy","year":"2012","unstructured":"Murphy, K. P.: Machine Learning: a Probabilistic Perspective. Cambridge, Massachusetts (2012). https:\/\/doi.org\/10.1038\/217994a0"},{"issue":"3","key":"1739_CR27","doi-asserted-by":"publisher","first-page":"228","DOI":"10.1016\/j.crhy.2019.05.019","volume":"20","author":"M Pilt\u00e9","year":"2019","unstructured":"Pilt\u00e9, M., Bonnabel, S., Livernet, F.: A novel nonlinear least-squares approach to highly maneuvering target tracking. C R Phys. 20(3), 228\u2013239 (2019). https:\/\/doi.org\/10.1016\/j.crhy.2019.05.019","journal-title":"C R Phys."},{"key":"1739_CR28","doi-asserted-by":"publisher","unstructured":"Kimball, P., Rock, S.: Sonar-based iceberg-relative AUV navigation. IEEE\/OES Autonomous Underwater Vehicles 1\u20136. https:\/\/doi.org\/10.1109\/AUV.2008.5290534 (2008)","DOI":"10.1109\/AUV.2008.5290534"},{"key":"1739_CR29","unstructured":"Wright, D.R.: Finite State Machines (2005)"},{"key":"1739_CR30","doi-asserted-by":"publisher","unstructured":"Olson, E.: AprilTag: A robust and flexible visual fiducial system. IEEE International Conference on Robotics and Automation (ICRA), 3400\u20133407. https:\/\/doi.org\/10.1109\/ICRA.2011.5979561 (2011)","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"1739_CR31","doi-asserted-by":"crossref","unstructured":"Kortenkamp, D., Simmons, R.: Robotic systems architectures and programming. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics. 2nd edn., pp 283\u2013306. Springer (2016)","DOI":"10.1007\/978-3-319-32552-1_12"},{"key":"1739_CR32","unstructured":"Monajjemi, M.: Bebop Autonomy [Source Code]. https:\/\/github.com\/AutonomyLab\/bebop\u2216_autonomy (2018)"},{"key":"1739_CR33","doi-asserted-by":"publisher","first-page":"400","DOI":"10.1007\/978-3-642-34327-8_36","volume":"7628","author":"J Meyer","year":"2012","unstructured":"Meyer, J., Sendobry, A., Kohlbrecher, S., Klingauf, U., Von Stryk, O.: Comprehensive simulation of quadrotor UAVs using ROS and Gazebo. Lect. Notes Comput. Sci 7628, 400\u2013411 (2012)","journal-title":"Lect. Notes Comput. Sci"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01739-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01739-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01739-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,10,22]],"date-time":"2022-10-22T11:53:43Z","timestamp":1666439623000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01739-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,19]]},"references-count":33,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2022,10]]}},"alternative-id":["1739"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01739-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2022,9,19]]},"assertion":[{"value":"9 November 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 August 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 September 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interests"}}],"article-number":"34"}}