{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T07:31:06Z","timestamp":1776238266213,"version":"3.50.1"},"reference-count":45,"publisher":"IEEE","license":[{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"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":[[2020,5]]},"DOI":"10.1109\/icra40945.2020.9196524","type":"proceedings-article","created":{"date-parts":[[2020,9,15]],"date-time":"2020-09-15T21:25:46Z","timestamp":1600205146000},"page":"4666-4672","source":"Crossref","is-referenced-by-count":568,"title":["OpenVINS: A Research Platform for Visual-Inertial Estimation"],"prefix":"10.1109","author":[{"given":"Patrick","family":"Geneva","sequence":"first","affiliation":[]},{"given":"Kevin","family":"Eckenhoff","sequence":"additional","affiliation":[]},{"given":"Woosik","family":"Lee","sequence":"additional","affiliation":[]},{"given":"Yulin","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Guoquan","family":"Huang","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","first-page":"1","article-title":"Continuous-time visual-inertial odometry for event cameras","author":"mueggler","year":"2018","journal-title":"IEEE Transactions on Robotics"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-015-0811-3"},{"key":"ref33","article-title":"Visual-inertial odometry on resource-constrained systems","author":"li","year":"2014","journal-title":"Ph D Dissertation"},{"key":"ref32","article-title":"Factor graphs and gtsam: A hands-on introduction","author":"dellaert","year":"2012"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.2514\/4.866463"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989022"},{"key":"ref37","article-title":"m.css: A no-nonsense, no-javascript css framework? and pelican theme for content-oriented websites","author":"vondrus","year":"2018"},{"key":"ref36","article-title":"Doxygen: Source code documentation generator tool","author":"van heesch","year":"2008"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014801"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206592"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794295"},{"key":"ref40","first-page":"241","article-title":"Optimization-based estimator design for vision-aided inertial navigation","author":"li","year":"2013","journal-title":"Robotics Science and Systems"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2896472"},{"key":"ref12","article-title":"Schmidt-ekfbased visual-inertial moving object tracking","author":"eckenhoff","year":"2020","journal-title":"Proc of the IEEE International Conference on Robotics and Automation"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793836"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01238"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794078"},{"key":"ref16","article-title":"Visual-inertial navigation with point and line features","author":"yang","year":"2019"},{"key":"ref17","article-title":"LIC-Fusion: Lidarinertial-camera odometry","author":"zuo","year":"2019"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2927123"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2893803"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8205965"},{"key":"ref4","article-title":"Visual-inertial mapping with non-linear factor recovery","author":"usenko","year":"2019","journal-title":"CoRR"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2011.08.003"},{"key":"ref3","article-title":"A general optimization-based framework for local odometry estimation with multiple sensors","author":"qin","year":"2019","journal-title":"CoRR"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917728574"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2003276"},{"key":"ref5","doi-asserted-by":"crossref","DOI":"10.1177\/0278364919853361","article-title":"Robocentric visual-inertial odometry","author":"huai","year":"2019","journal-title":"International Journal of Robotics Research"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793349"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00211"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793886"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793604"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543252"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919835021"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909353640"},{"key":"ref21","article-title":"A first-estimates Jacobian EKF for improving SLAM consistency","author":"huang","year":"2008","journal-title":"Proc of the 11th International Symposium on Experimental Robotics"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906889"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913515286"},{"key":"ref44","article-title":"Open source computer vision (OpenCV) library","year":"0"},{"key":"ref26","article-title":"Indirect Kalman filter for 3D attitude estimation","author":"trawny","year":"2005"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800113"},{"key":"ref25","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":"Proceedings of the IEEE International Conference on Robotics and Automation"}],"event":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","location":"Paris, France","start":{"date-parts":[[2020,5,31]]},"end":{"date-parts":[[2020,8,31]]}},"container-title":["2020 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9187508\/9196508\/09196524.pdf?arnumber=9196524","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,28]],"date-time":"2022-06-28T00:15:13Z","timestamp":1656375313000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9196524\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5]]},"references-count":45,"URL":"https:\/\/doi.org\/10.1109\/icra40945.2020.9196524","relation":{},"subject":[],"published":{"date-parts":[[2020,5]]}}}