{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,21]],"date-time":"2026-09-21T08:13:29Z","timestamp":1789978409166,"version":"4.0.1"},"reference-count":37,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016,5]]},"DOI":"10.1109\/icra.2016.7487238","type":"proceedings-article","created":{"date-parts":[[2016,6,9]],"date-time":"2016-06-09T17:33:24Z","timestamp":1465493604000},"page":"1071-1078","source":"Crossref","is-referenced-by-count":18,"title":["Large-scale cooperative 3D visual-inertial mapping in a Manhattan world"],"prefix":"10.1109","author":[{"given":"Chao X.","family":"Guo","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kourosh","family":"Sartipi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ryan C.","family":"DuToit","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Georgios A.","family":"Georgiou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"family":"Ruipeng Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John","family":"O'Leary","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Esha D.","family":"Nerurkar","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joel A.","family":"Hesch","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stergios I.","family":"Roumeliotis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126530"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.5201\/ipol.2012.gjmr-lsd"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.226"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2006.264"},{"key":"ref37","year":"0"},{"key":"ref36","article-title":"Eigen v3","author":"guennebaud","year":"2010"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126266"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2002.1039020"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630775"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2013.751160"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224759"},{"key":"ref14","year":"0"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.2514\/4.866463"},{"key":"ref16","article-title":"Indirect Kalman filter for 3D attitude estimation","author":"trawny","year":"2005","journal-title":"University of Minnesota Dept of Comp Sci & Eng Tech Rep"},{"key":"ref17","article-title":"Performance testing of the systron donner quartz gyro (qrs11–100-420); sn's 3332, 3347 and 3544,” JPL","author":"allen","year":"1993","journal-title":"Tech Rep"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1145\/1391989.1391995"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2277549"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.5244\/C.25.16"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2408456"},{"key":"ref27","first-page":"674","article-title":"An iterative image registration technique with an application to stereo vision","author":"lucas","year":"1981","journal-title":"Proceedings of the Joint International Conference for Artificial Intelligence"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140075"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"1066","DOI":"10.1109\/TRO.2008.2004832","article-title":"FrameSLAM: From bundle adjustment to real-time visual mapping","volume":"24","author":"konolige","year":"2008","journal-title":"IEEE Trans on Robotics"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.11.007"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5652875"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1250630"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631323"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907385"},{"key":"ref20","article-title":"Large-scale cooperative 3D visual-inertial mapping in a manhattan world","author":"guo","year":"2015"},{"key":"ref22","author":"nocedal","year":"2006","journal-title":"Numerical Optimization"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1137\/0708060"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.5244\/C.2.23"},{"key":"ref25","article-title":"Project Tango","year":"0","journal-title":"Google"}],"event":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","location":"Stockholm","start":{"date-parts":[[2016,5,16]]},"end":{"date-parts":[[2016,5,21]]}},"container-title":["2016 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7478842\/7487087\/07487238.pdf?arnumber=7487238","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,25]],"date-time":"2019-04-25T23:08:57Z","timestamp":1556233737000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/7487238\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,5]]},"references-count":37,"URL":"https:\/\/doi.org\/10.1109\/icra.2016.7487238","relation":{},"subject":[],"published":{"date-parts":[[2016,5]]}}}