{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,11]],"date-time":"2026-06-11T16:29:18Z","timestamp":1781195358928,"version":"3.54.1"},"reference-count":34,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018,5]]},"DOI":"10.1109\/icra.2018.8460780","type":"proceedings-article","created":{"date-parts":[[2018,9,21]],"date-time":"2018-09-21T22:28:03Z","timestamp":1537568883000},"page":"1197-1204","source":"Crossref","is-referenced-by-count":55,"title":["Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM"],"prefix":"10.1109","author":[{"given":"Tong","family":"Qin","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peiliang","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shaojie","family":"Shen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-008-0152-6"},{"key":"ref31","author":"hartley","year":"2003","journal-title":"Multiple View Geometry in Computer Vision"},{"key":"ref30","doi-asserted-by":"crossref","first-page":"778","DOI":"10.1007\/978-3-642-15561-1_56","article-title":"Brief: Binary robust independent elementary features","author":"calonder","year":"2010","journal-title":"Computer Vision–ACCV 2010"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref11","article-title":"A square root inverse filter for efficient vision-aided inertial navigation on mobile devices","author":"wu","year":"2015","journal-title":"Robotics Science and Systems"},{"key":"ref12","article-title":"A comparative analysis of tightly-coupled monocular, binocular, and stereo vins","author":"paul","year":"2017","journal-title":"Proc of the IEEE Int Conf on Robot and Autom"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911430419"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref15","article-title":"Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs","author":"shen","year":"2015","journal-title":"Proc of the IEEE Int Conf on Robot and Autom"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2016.2550621"},{"key":"ref17","article-title":"Robust initialization of monocular visual-inertial estimation on aerial robots","author":"qin","year":"2017","journal-title":"IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2015.336"},{"key":"ref19","article-title":"Get out of my lab: Large-scale, real-time visual-inertial localization","author":"lynen","year":"2015","journal-title":"Robotics Science and Systems"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1214\/aoms\/1177703732"},{"key":"ref4","article-title":"Direct sparse odometry","author":"engel","year":"2017","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"ref27","first-page":"24","article-title":"An iterative image registration technique with an application to stereo vision","author":"lucas","year":"1981","journal-title":"Proc of the Intl Joint Conf on Artificial Intelligence"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"Orb-slam: a versatile and accurate monocular slam system","volume":"31","author":"mur-artal","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"ref29","doi-asserted-by":"crossref","first-page":"430","DOI":"10.1007\/11744023_34","article-title":"Machine learning for high-speed corner detection","author":"rosten","year":"2006","journal-title":"Computer Vision–ECCV 2006"},{"key":"ref5","author":"qin","year":"2017","journal-title":"VINS-Mono A robust and versatile monocular visual-inertial state estimator"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696917"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225147"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10605-2_54"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364024"},{"key":"ref1","article-title":"SVO: Fast semi-direct monocular visual odometry","author":"forster","year":"2014","journal-title":"Proc of the IEEE Int Conf on Robot and Autom"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2660063"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2653359"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353622"},{"key":"ref24","first-page":"2548","article-title":"Brisk: Binary robust invariant scalable keypoints","author":"leutenegger","year":"2011","journal-title":"IEEE International Conference on Computer Vision (ICCV)"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206581"},{"key":"ref26","first-page":"593","article-title":"Good features to track","author":"shi","year":"1994","journal-title":"Proc of the IEEE Int Conf on Pattern Recognition"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"}],"event":{"name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","location":"Brisbane, QLD","start":{"date-parts":[[2018,5,21]]},"end":{"date-parts":[[2018,5,25]]}},"container-title":["2018 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8449910\/8460178\/08460780.pdf?arnumber=8460780","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,8,24]],"date-time":"2020-08-24T01:39:49Z","timestamp":1598233189000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8460780\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,5]]},"references-count":34,"URL":"https:\/\/doi.org\/10.1109\/icra.2018.8460780","relation":{},"subject":[],"published":{"date-parts":[[2018,5]]}}}