{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:36:53Z","timestamp":1740141413876,"version":"3.37.3"},"reference-count":61,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2024,3,28]],"date-time":"2024-03-28T00:00:00Z","timestamp":1711584000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,3,28]],"date-time":"2024-03-28T00:00:00Z","timestamp":1711584000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["88881.506890\/2020-01"],"award-info":[{"award-number":["88881.506890\/2020-01"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003593","name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["311789\/2021-8"],"award-info":[{"award-number":["311789\/2021-8"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Visual odometry (VO) is an important problem studied in robotics and computer vision in which the relative camera motion is computed through visual information. In this work, we propose to reduce the error accumulation of a dual stereo VO system (4 cameras) computing 6 degrees of freedom poses by fusing two independent stereo odometry with a nonlinear optimization. Our approach computes two stereo odometries employing the LIBVISO2 algorithm and later merge them by using image correspondences between the stereo pairs and minimizing the reprojection error with graph-based bundle adjustment. Experiments carried out on the KITTI odometry datasets show that our method computes more accurate estimates (measured as the Relative Positioning Error) in comparison to the traditional stereo odometry (stereo bundle adjustment). In addition, the proposed method has a similar or better odometry accuracy compared to ORB-SLAM2 and UCOSLAM algorithms.<\/jats:p>","DOI":"10.1007\/s10846-024-02069-4","type":"journal-article","created":{"date-parts":[[2024,3,28]],"date-time":"2024-03-28T00:04:24Z","timestamp":1711584264000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Nonlinearly Optimized Dual Stereo Visual Odometry Fusion"],"prefix":"10.1007","volume":"110","author":[{"given":"Elizabeth Viviana","family":"Cabrera-\u00c1vila","sequence":"first","affiliation":[]},{"given":"Bruno Marques Ferreira","family":"da\u00a0Silva","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7735-5630","authenticated-orcid":false,"given":"Luiz Marcos Garcia","family":"Gon\u00e7alves","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,3,28]]},"reference":[{"key":"2069_CR1","doi-asserted-by":"publisher","unstructured":"Macario\u00a0Barros, A., Michel, M., Moline, Y., Corre, G., Carrel, F.: A comprehensive survey of visual slam algorithms. Robotics 11(1) (2022). https:\/\/doi.org\/10.3390\/robotics11010024","DOI":"10.3390\/robotics11010024"},{"issue":"6","key":"2069_CR2","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. Trans. Rob. 32(6), 1309\u20131332 (2016). https:\/\/doi.org\/10.1109\/TRO.2016.2624754","journal-title":"Trans. Rob."},{"key":"2069_CR3","volume-title":"Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)","author":"S Thrun","year":"2005","unstructured":"Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). The MIT Press, USA (2005)"},{"key":"2069_CR4","volume-title":"Introductory Techniques for 3-D Computer Vision","author":"E Trucco","year":"1998","unstructured":"Trucco, E., Verri, A.: Introductory Techniques for 3-D Computer Vision. Prentice Hall, USA (1998)"},{"key":"2069_CR5","doi-asserted-by":"publisher","unstructured":"Ortiz-Fernandez, L.E., Cabrera-\u00c1vila, E.V., Gon\u00e7alves, L.M.G.: Depth data error modeling of the ZED 3D vision sensor from stereolabs. Electron. Lett. Comput. Vision Image Anal. 17(1) (2018). https:\/\/doi.org\/10.5565\/rev\/elcvia.1084","DOI":"10.5565\/rev\/elcvia.1084"},{"issue":"4","key":"2069_CR6","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.: Visual odometry [tutorial]. IEEE Robot. Autom. Mag. 18(4), 80\u201392 (2011). https:\/\/doi.org\/10.1109\/MRA.2011.943233","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"2","key":"2069_CR7","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.: Visual odometry\u202f: Part ii: Matching, robustness, optimization, and applications. IEEE Robot. Automat. Mag. 19(2), 78\u201390 (2012). https:\/\/doi.org\/10.1109\/MRA.2012.2182810","journal-title":"IEEE Robot. Automat. Mag."},{"key":"2069_CR8","doi-asserted-by":"publisher","unstructured":"Nister, D., Naroditsky, O., Bergen, J.: Visual odometry. In: Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004., vol. 1, p. (2004). https:\/\/doi.org\/10.1109\/CVPR.2004.1315094","DOI":"10.1109\/CVPR.2004.1315094"},{"key":"2069_CR9","doi-asserted-by":"publisher","unstructured":"Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp.\u00a0225\u2013234 (2007). https:\/\/doi.org\/10.1109\/ISMAR.2007.4538852","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"2069_CR10","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1016\/j.robot.2017.03.019","volume":"93","author":"T Pire","year":"2017","unstructured":"Pire, T., Fischer, T., Castro, G., De-Crist\u00f3foris, P., Civera, J., Jacobo-Berlles, J.: S-ptam: Stereo parallel tracking and mapping. Robot. Auton. Syst. 93, 27\u201342 (2017). https:\/\/doi.org\/10.1016\/j.robot.2017.03.019","journal-title":"Robot. Auton. Syst."},{"issue":"5","key":"2069_CR11","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","volume":"33","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE Trans. Rob. 33(5), 1255\u20131262 (2017). https:\/\/doi.org\/10.1109\/TRO.2017.2705103","journal-title":"IEEE Trans. Rob."},{"key":"2069_CR12","doi-asserted-by":"crossref","unstructured":"Mu\u00f1oz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition, 107193 (2020)","DOI":"10.1016\/j.patcog.2019.107193"},{"issue":"1","key":"2069_CR13","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1186\/s41074-017-0027-2","volume":"9","author":"T Taketomi","year":"2017","unstructured":"Taketomi, T., Uchiyama, H., Ikeda, S.: Visual slam algorithms: a survey from 2010 to 2016. IPSJ Trans. Comput. Vision Appl. 9(1), 16 (2017). https:\/\/doi.org\/10.1186\/s41074-017-0027-2","journal-title":"IPSJ Trans. Comput. Vision Appl."},{"issue":"6","key":"2069_CR14","doi-asserted-by":"publisher","first-page":"869","DOI":"10.1109\/70.544770","volume":"12","author":"J Borenstein","year":"1996","unstructured":"Borenstein, J., Feng, L.: Measurement and correction of systematic odometry errors in mobile robots. IEEE Trans. Robot. Autom. 12(6), 869\u2013880 (1996). https:\/\/doi.org\/10.1109\/70.544770","journal-title":"IEEE Trans. Robot. Autom."},{"key":"2069_CR15","doi-asserted-by":"publisher","unstructured":"Cabrera-Avila, E.V., Ortiz-Fernandez, L.E., da Silva, B.M.F.d., Clua, E.W.G., Gon\u00e7alves, L.M.G.: A versatile method for depth data error estimation in RGB-D sensors. Sensors 18(9) (2018). https:\/\/doi.org\/10.3390\/s18093122","DOI":"10.3390\/s18093122"},{"key":"2069_CR16","doi-asserted-by":"publisher","unstructured":"Silva, B.M.F., Gon\u00e7alves, L.M.G.: A fast visual odometry and mapping system for rgb-d cameras. In: 2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol, pp.\u00a055\u201360 (2014). https:\/\/doi.org\/10.1109\/SBR.LARS.Robocontrol.2014.35","DOI":"10.1109\/SBR.LARS.Robocontrol.2014.35"},{"issue":"3","key":"2069_CR17","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.: Keyframe-based visual-inertial odometry using nonlinear optimization. Internat. J. Robot. Res. 34(3), 314\u2013334 (2015). https:\/\/doi.org\/10.1177\/0278364914554813","journal-title":"Internat. J. Robot. Res."},{"key":"2069_CR18","doi-asserted-by":"publisher","unstructured":"Merfels, C., Stachniss, C.: Pose fusion with chain pose graphs for automated driving. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.\u00a03116\u20133123 (2016). https:\/\/doi.org\/10.1109\/IROS.2016.7759482","DOI":"10.1109\/IROS.2016.7759482"},{"key":"2069_CR19","doi-asserted-by":"publisher","first-page":"629","DOI":"10.1007\/978-981-13-0029-5_54","volume-title":"China Satellite Navigation Conference (CSNC) 2018 Proceedings","author":"S Mo","year":"2018","unstructured":"Mo, S., Zhou, Z., Du, S., Xiang, C., Kuang, C., Wu, J.: Implementation of mixed sequential kalman filters for vision-aided GNSS\/INS integrated navigation system. In: Sun, J., Yang, C., Guo, S. (eds.) China Satellite Navigation Conference (CSNC) 2018 Proceedings, pp. 629\u2013641. Springer, Singapore (2018)"},{"key":"2069_CR20","unstructured":"Qin, T., Cao, S., Pan, J., Shen, S.: A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors (2019)"},{"key":"2069_CR21","doi-asserted-by":"publisher","unstructured":"Mascaro, R., Teixeira, L., Hinzmann, T., Siegwart, R., Chli, M.: GOMSF: Graph-optimization based multi-sensor fusion for robust UAV pose estimation. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a01421\u20131428 (2018). https:\/\/doi.org\/10.1109\/ICRA.2018.8460193","DOI":"10.1109\/ICRA.2018.8460193"},{"key":"2069_CR22","doi-asserted-by":"publisher","unstructured":"Lynen, S., Achtelik, M.W., Weiss, S., Chli, M., Siegwart, R.: A robust and modular multi-sensor fusion approach applied to MAV navigation. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp.\u00a03923\u20133929 (2013). https:\/\/doi.org\/10.1109\/IROS.2013.6696917","DOI":"10.1109\/IROS.2013.6696917"},{"issue":"4","key":"2069_CR23","doi-asserted-by":"publisher","first-page":"1004","DOI":"10.1109\/TRO.2018.2853729","volume":"34","author":"T Qin","year":"2018","unstructured":"Qin, T., Li, P., Shen, S.: Vins-mono: A robust and versatile monocular visual-inertial state estimator. IEEE Trans. Rob. 34(4), 1004\u20131020 (2018). https:\/\/doi.org\/10.1109\/TRO.2018.2853729","journal-title":"IEEE Trans. Rob."},{"key":"2069_CR24","doi-asserted-by":"publisher","unstructured":"Ortiz-Fernandez, L.E., Cabrera-Avila, E.V., Silva, B.M.F.d., Gon\u00e7alves, L.M.G.: Smart artificial markers for accurate visual mapping and localization. Sensors 21(2) (2021). https:\/\/doi.org\/10.3390\/s21020625","DOI":"10.3390\/s21020625"},{"key":"2069_CR25","unstructured":"Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: An open-source robot operating system. In: Workshops at the IEEE international conference on robotics and automation (2009)"},{"key":"2069_CR26","doi-asserted-by":"publisher","unstructured":"Mouragnon, E., Lhuillier, M., Dhome, M., Dekeyser, F., Sayd, P.: Real time localization and 3d reconstruction. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR\u201906), vol. 1, pp.\u00a0363\u2013370 (2006). https:\/\/doi.org\/10.1109\/CVPR.2006.236","DOI":"10.1109\/CVPR.2006.236"},{"issue":"4","key":"2069_CR27","doi-asserted-by":"publisher","first-page":"31","DOI":"10.1109\/MITS.2010.939925","volume":"2","author":"G Grisetti","year":"2010","unstructured":"Grisetti, G., K\u00fcmmerle, R., Stachniss, C., Burgard, W.: A tutorial on graph-based slam. IEEE Intell. Transp. Syst. Mag. 2(4), 31\u201343 (2010). https:\/\/doi.org\/10.1109\/MITS.2010.939925","journal-title":"IEEE Intell. Transp. Syst. Mag."},{"key":"2069_CR28","doi-asserted-by":"publisher","unstructured":"K\u00fcmmerle, R., Grisetti, G., Strasdat, H., Konolige, K., Burgard, W.: G2o: A general framework for graph optimization. In: 2011 IEEE International Conference on Robotics and Automation, pp.\u00a03607\u20133613 (2011). https:\/\/doi.org\/10.1109\/ICRA.2011.5979949","DOI":"10.1109\/ICRA.2011.5979949"},{"key":"2069_CR29","doi-asserted-by":"crossref","unstructured":"Geiger, A., Lenz, P., Urtasun, R.: Are we ready for autonomous driving? the KITTI vision benchmark suite. In: Conference on Computer Vision and Pattern Recognition (CVPR) (2012)","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"2069_CR30","unstructured":"Cabrera-\u00c1vila, E.V.: Windowed optimization for stereo visual odometry fusion. PhD thesis, Universidade Federal do Rio Grande do Norte (2022). https:\/\/repositorio.ufrn.br\/handle\/123456789\/47206"},{"key":"2069_CR31","doi-asserted-by":"publisher","unstructured":"Cabrera-Avila, E.V., Silva, B.M.F., Gon\u00e7alves, L.M.G.: Sliding windowed optimization algorithm for fusion of redundant stereo visual odometries. In: 2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE), pp.\u00a0300\u2013305 (2022). https:\/\/doi.org\/10.1109\/LARS\/SBR\/WRE56824.2022.9995979","DOI":"10.1109\/LARS\/SBR\/WRE56824.2022.9995979"},{"issue":"2","key":"2069_CR32","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","volume":"60","author":"DG Lowe","year":"2004","unstructured":"Lowe, D.G.: Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vision 60(2), 91\u2013110 (2004). https:\/\/doi.org\/10.1023\/B:VISI.0000029664.99615.94","journal-title":"Int. J. Comput. Vision"},{"key":"2069_CR33","doi-asserted-by":"publisher","unstructured":"Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346\u2013359 (2008). https:\/\/doi.org\/10.1016\/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia","DOI":"10.1016\/j.cviu.2007.09.014"},{"key":"2069_CR34","doi-asserted-by":"publisher","unstructured":"Rublee, E., Rabaud, V., Konolige, K., Bradski, G.: ORB: An efficient alternative to SIFT or SURF. In: 2011 International Conference on Computer Vision, pp.\u00a02564\u20132571 (2011). https:\/\/doi.org\/10.1109\/ICCV.2011.6126544","DOI":"10.1109\/ICCV.2011.6126544"},{"issue":"1","key":"2069_CR35","doi-asserted-by":"publisher","first-page":"1897","DOI":"10.1186\/s40064-016-3573-7","volume":"5","author":"MOA Aqel","year":"2016","unstructured":"Aqel, M.O.A., Marhaban, M.H., Saripan, M.I., Ismail, N.B.: Review of visual odometry: types, approaches, challenges, and applications. Springerplus 5(1), 1897 (2016). https:\/\/doi.org\/10.1186\/s40064-016-3573-7","journal-title":"Springerplus"},{"key":"2069_CR36","doi-asserted-by":"publisher","unstructured":"Wu, R., Gao, Y.: Research on underwater complex scene slam algorithm based on image enhancement. Sensors 22(21) (2022). https:\/\/doi.org\/10.3390\/s22218517","DOI":"10.3390\/s22218517"},{"key":"2069_CR37","volume-title":"Multiple View Geometry in Computer Vision","author":"R Hartley","year":"2003","unstructured":"Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press, USA (2003)","edition":"2"},{"key":"2069_CR38","doi-asserted-by":"publisher","unstructured":"Grisetti, G., Guadagnino, T., Aloise, I., Colosi, M., Della\u00a0Corte, B., Schlegel, D.: Least squares optimization: From theory to practice. Robotics 9(3) (2020). https:\/\/doi.org\/10.3390\/robotics9030051","DOI":"10.3390\/robotics9030051"},{"key":"2069_CR39","doi-asserted-by":"publisher","unstructured":"Se, S., Lowe, D., Little, J.: Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks. Int. J. Robot. Res. 21(8), 735\u2013758 (2002). https:\/\/doi.org\/10.1177\/027836402761412467","DOI":"10.1177\/027836402761412467"},{"key":"2069_CR40","doi-asserted-by":"publisher","unstructured":"Bloesch, M., Omari, S., Hutter, M., Siegwart, R.: Robust visual inertial odometry using a direct EKF-based approach. In: 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.\u00a0298\u2013304 (2015). https:\/\/doi.org\/10.1109\/IROS.2015.7353389","DOI":"10.1109\/IROS.2015.7353389"},{"key":"2069_CR41","doi-asserted-by":"publisher","unstructured":"Shen, S., Mulgaonkar, Y., Michael, N., Kumar, V.: Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft MAV. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a04974\u20134981 (2014). https:\/\/doi.org\/10.1109\/ICRA.2014.6907588","DOI":"10.1109\/ICRA.2014.6907588"},{"key":"2069_CR42","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2023.105460","volume":"134","author":"S-Y Nabavi-Chashmi","year":"2023","unstructured":"Nabavi-Chashmi, S.-Y., Asadi, D., Ahmadi, K.: Image-based uav position and velocity estimation using a monocular camera. Control. Eng. Pract. 134, 105460 (2023). https:\/\/doi.org\/10.1016\/j.conengprac.2023.105460","journal-title":"Control. Eng. Pract."},{"key":"2069_CR43","doi-asserted-by":"publisher","unstructured":"Strasdat, H., Montiel, J.M.M., Davison, A.J.: Real-time monocular slam: Why filter? In: 2010 IEEE International Conference on Robotics and Automation, pp.\u00a02657\u20132664 (2010). https:\/\/doi.org\/10.1109\/ROBOT.2010.5509636","DOI":"10.1109\/ROBOT.2010.5509636"},{"key":"2069_CR44","unstructured":"Michot, J., Bartoli, A., Gaspard, F.: Bi-objective bundle adjustment with application to multi-sensor SLAM (2010)"},{"issue":"7","key":"2069_CR45","doi-asserted-by":"publisher","first-page":"2652","DOI":"10.1109\/TCYB.2018.2831900","volume":"49","author":"F Zheng","year":"2019","unstructured":"Zheng, F., Tang, H., Liu, Y.: Odometry-vision-based ground vehicle motion estimation with SE(2)-constrained SE(3) poses. IEEE Trans. Cybernet. 49(7), 2652\u20132663 (2019). https:\/\/doi.org\/10.1109\/TCYB.2018.2831900","journal-title":"IEEE Trans. Cybernet."},{"issue":"2","key":"2069_CR46","doi-asserted-by":"publisher","first-page":"796","DOI":"10.1109\/LRA.2017.2653359","volume":"2","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: Visual-inertial monocular SLAM with map reuse. IEEE Robot. Automat. Lett. 2(2), 796\u2013803 (2017). https:\/\/doi.org\/10.1109\/LRA.2017.2653359","journal-title":"IEEE Robot. Automat. Lett."},{"key":"2069_CR47","doi-asserted-by":"publisher","unstructured":"Liu, H., Chen, M., Zhang, G., Bao, H., Bao, Y.: ICE-BA: Incremental, consistent and efficient bundle adjustment for visual-inertial SLAM. In: 2018 IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pp.\u00a01974\u20131982 (2018). https:\/\/doi.org\/10.1109\/CVPR.2018.00211","DOI":"10.1109\/CVPR.2018.00211"},{"key":"2069_CR48","unstructured":"Agarwal, S., Mierle, K., Team, T.C.S.: Ceres Solver. https:\/\/github.com\/ceres-solver\/ceres-solver"},{"key":"2069_CR49","doi-asserted-by":"publisher","unstructured":"Dellaert, F., Kaess, M.: Factor graphs for robot perception. Found. Trends\u00ae in Robot. 6(1-2), 1\u2013139 (2017). https:\/\/doi.org\/10.1561\/2300000043","DOI":"10.1561\/2300000043"},{"key":"2069_CR50","doi-asserted-by":"publisher","unstructured":"Juri\u0107, A., Kende\u0161, F., Markovi\u0107, I., Petrovi\u0107, I.: A comparison of graph optimization approaches for pose estimation in slam. In: 2021 44th International Convention on Information, Communication and Electronic Technology (MIPRO), pp.\u00a01113\u20131118 (2021). https:\/\/doi.org\/10.23919\/MIPRO52101.2021.9596721","DOI":"10.23919\/MIPRO52101.2021.9596721"},{"key":"2069_CR51","doi-asserted-by":"crossref","unstructured":"Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment \u2013 a modern synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) Vision algorithms: theory and practice, pp. 298\u2013372. Springer, Berlin, Heidelberg (2000)","DOI":"10.1007\/3-540-44480-7_21"},{"key":"2069_CR52","doi-asserted-by":"publisher","unstructured":"Kazik, T., Kneip, L., Nikolic, J., Pollefeys, M., Siegwart, R.: Real-time 6D stereo visual odometry with non-overlapping fields of view. In: 2012 IEEE Conference on computer vision and pattern recognition, pp.\u00a01529\u20131536 (2012). https:\/\/doi.org\/10.1109\/CVPR.2012.6247843","DOI":"10.1109\/CVPR.2012.6247843"},{"key":"2069_CR53","doi-asserted-by":"publisher","unstructured":"Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A.: Visual odometry with unsynchronized multi-cameras setup for intelligent vehicle application. In: 2014 IEEE Intelligent vehicles symposium proceedings, pp.\u00a01339\u20131344 (2014). https:\/\/doi.org\/10.1109\/IVS.2014.6856533","DOI":"10.1109\/IVS.2014.6856533"},{"key":"2069_CR54","doi-asserted-by":"crossref","unstructured":"Geiger, A., Ziegler, J., Stiller, C.: Stereoscan: Dense 3D reconstruction in real-time. In: Intelligent vehicles symposium (IV) (2011)","DOI":"10.1109\/IVS.2011.5940405"},{"key":"2069_CR55","doi-asserted-by":"publisher","unstructured":"Lourakis, M.I.A., Argyros, A.A.: Sba: A software package for generic sparse bundle adjustment. ACM Trans. Math. Softw. 36(1) (2009). https:\/\/doi.org\/10.1145\/1486525.1486527","DOI":"10.1145\/1486525.1486527"},{"key":"2069_CR56","doi-asserted-by":"publisher","unstructured":"Kitt, B., Geiger, A., Lategahn, H.: Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme. In: 2010 IEEE Intelligent vehicles symposium, pp.\u00a0486\u2013492 (2010). https:\/\/doi.org\/10.1109\/IVS.2010.5548123","DOI":"10.1109\/IVS.2010.5548123"},{"issue":"6","key":"2069_CR57","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.: Random sample consensus: A paradigm for model fitting with\u00a0applications to image analysis and automated cartography. Commun. ACM 24(6), 381\u2013395 (1981). https:\/\/doi.org\/10.1145\/358669.358692","journal-title":"Commun. ACM"},{"issue":"2","key":"2069_CR58","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1137\/0111030","volume":"11","author":"DW Marquardt","year":"1963","unstructured":"Marquardt, D.W.: An algorithm for least-squares estimation of nonlinear parameters. J. Soc. Ind. Appl. Math. 11(2), 431\u2013441 (1963)","journal-title":"J. Soc. Ind. Appl. Math."},{"key":"2069_CR59","doi-asserted-by":"crossref","unstructured":"Chen, Y., Davis, T.A., Hager, W.W.: Algorithm 887: Cholmod, supernodal sparse cholesky factorization and update\/downdate. ACM Trans. Math. Softw. 1\u201314 (2008)","DOI":"10.1145\/1391989.1391995"},{"key":"2069_CR60","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718881","volume-title":"Direct Methods for Sparse Linear Systems (Fundamentals of Algorithms 2)","author":"TA Davis","year":"2006","unstructured":"Davis, T.A.: Direct Methods for Sparse Linear Systems (Fundamentals of Algorithms 2). Society for Industrial and Applied Mathematics, USA (2006)"},{"issue":"4","key":"2069_CR61","doi-asserted-by":"publisher","first-page":"387","DOI":"10.1007\/s10514-009-9155-6","volume":"27","author":"R K\u00fcmmerle","year":"2009","unstructured":"K\u00fcmmerle, R., Steder, B., Dornhege, C., Ruhnke, M., Grisetti, G., Stachniss, C., Kleiner, A.: On measuring the accuracy of SLAM algorithms. Auton. Robot. 27(4), 387 (2009). https:\/\/doi.org\/10.1007\/s10514-009-9155-6","journal-title":"Auton. Robot."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02069-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-024-02069-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02069-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,18]],"date-time":"2024-07-18T10:11:17Z","timestamp":1721297477000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-024-02069-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,28]]},"references-count":61,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,6]]}},"alternative-id":["2069"],"URL":"https:\/\/doi.org\/10.1007\/s10846-024-02069-4","relation":{},"ISSN":["1573-0409"],"issn-type":[{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2024,3,28]]},"assertion":[{"value":"15 June 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 February 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 March 2024","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 declare that there are no conflicts of interests nor competing interests for this work.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}},{"value":"Not applicable","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"56"}}