{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T15:13:33Z","timestamp":1767280413025,"version":"3.28.0"},"reference-count":35,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,5,1]],"date-time":"2019-05-01T00:00:00Z","timestamp":1556668800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2019,5,1]],"date-time":"2019-05-01T00:00:00Z","timestamp":1556668800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,5,1]],"date-time":"2019-05-01T00:00:00Z","timestamp":1556668800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,5]]},"DOI":"10.1109\/icra.2019.8793836","type":"proceedings-article","created":{"date-parts":[[2019,8,13]],"date-time":"2019-08-13T01:26:12Z","timestamp":1565659572000},"page":"3535-3541","source":"Crossref","is-referenced-by-count":35,"title":["A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures"],"prefix":"10.1109","author":[{"given":"Patrick","family":"Geneva","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kevin","family":"Eckenhoff","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guoquan","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref32","first-page":"430","article-title":"Machine learning for high-speed corner detection","author":"rosten","year":"2006","journal-title":"European Conference on Computer Vision"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014801"},{"key":"ref35","article-title":"Complexity Analysis: A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures","author":"geneva","year":"2019","journal-title":"Tech rep RPNG-2019-LOOP"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460670"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9736-3"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.032"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"293","DOI":"10.1016\/B978-1-4831-6716-9.50011-4","article-title":"Application of state-space methods to navigation problems","volume":"3","author":"schmidt","year":"1966","journal-title":"Advances in Control Systems"},{"key":"ref13","doi-asserted-by":"crossref","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","article-title":"Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age","volume":"32 6","author":"cadena","year":"2016","journal-title":"IEEE Transactions on Robotics"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907385"},{"key":"ref15","first-page":"834","article-title":"LSD-SLAM: Large-scale direct monocular SLAM","author":"engel","year":"2014","journal-title":"European Conference on Computer Vision"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2653359"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00211"},{"key":"ref18","doi-asserted-by":"crossref","first-page":"1004","DOI":"10.1109\/TRO.2018.2853729","article-title":"Vins-mono: A robust and versatile monocular visual-inertial state estimator","volume":"34 4","author":"qin","year":"2018","journal-title":"IEEE Transactions on Robotics"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460780"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913509675"},{"key":"ref27","first-page":"674","article-title":"An iterative image registration technique with an application to stereo vision","author":"lucas","year":"1981","journal-title":"International Joint Conference on Artificial Intelligence"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989171"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907581"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759505"},{"key":"ref8","article-title":"Optimal-State-Constraint EKF for Visual-Inertial Navigation","author":"huang","year":"2015","journal-title":"Proc of the 4 International Symposium of Robotics Research"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593643"},{"key":"ref2","first-page":"158","article-title":"Consistency Analysis and Improvement of Vision-aided Inertial Navigation","volume":"30 1","author":"hesch","year":"2013","journal-title":"IEEE Transactions on Robotics"},{"key":"ref1","doi-asserted-by":"crossref","first-page":"3565","DOI":"10.1109\/ROBOT.2007.364024","article-title":"A multi-state constraint Kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2007","journal-title":"2007 IEEE International Conference on Robotics and Automation"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2017.03.016"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2008.4563131"},{"key":"ref22","article-title":"PIVIO: Robust and Efficient Stereo Visual Inertial Odometry using Points and Lines","author":"zheng","year":"2018","journal-title":"arXiv preprint arXiv 1803 02403"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.037"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989741"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2001.977154"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.2514\/4.866463"},{"journal-title":"Indirect Kalman filter for 3D attitude estimation","year":"2005","author":"trawny","key":"ref25"}],"event":{"name":"2019 International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2019,5,20]]},"location":"Montreal, QC, Canada","end":{"date-parts":[[2019,5,24]]}},"container-title":["2019 International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8780387\/8793254\/08793836.pdf?arnumber=8793836","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,7,15]],"date-time":"2022-07-15T03:17:34Z","timestamp":1657855054000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8793836\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,5]]},"references-count":35,"URL":"https:\/\/doi.org\/10.1109\/icra.2019.8793836","relation":{},"subject":[],"published":{"date-parts":[[2019,5]]}}}