{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,15]],"date-time":"2025-10-15T10:27:50Z","timestamp":1760524070417},"reference-count":38,"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\/icra40945.2020.9197280","type":"proceedings-article","created":{"date-parts":[[2020,9,15]],"date-time":"2020-09-15T21:25:46Z","timestamp":1600205146000},"source":"Crossref","is-referenced-by-count":13,"title":["Analytic Combined IMU Integration (ACI<sup>2<\/sup>) For Visual Inertial Navigation"],"prefix":"10.1109","author":[{"given":"Yulin","family":"Yang","sequence":"first","affiliation":[]},{"given":"Benzun Pious","family":"Wisely Babu","sequence":"additional","affiliation":[]},{"given":"Chuchu","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Guoquan","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Liu","family":"Ren","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759505"},{"key":"ref33","article-title":"Supplementary material: Analytic combined imu integration (aci2) for visual inertial navigation","author":"yang","year":"2019"},{"key":"ref32","article-title":"Quaternion kinematics for the error-state kalman filter","author":"sola","year":"2017"},{"key":"ref31","first-page":"1","article-title":"Visual odometry and mapping for autonomous flight using an RGB-D camera","author":"huang","year":"2011","journal-title":"Proc of the 4 International Symposium of Robotics Research"},{"key":"ref30","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":"ref37","article-title":"Open source computer vision (OpenCV) library","year":"0"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593941"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593419"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913515286"},{"key":"ref10","article-title":"In2laama: Inertial lidar localisation autocalibration and mapping","author":"gentil","year":"2019"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793511"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989571"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.616"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.900610"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914538326"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.008"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196524"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793604"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.057"},{"key":"ref4","article-title":"Robocentric visual-inertial odometry","author":"huai","year":"2018","journal-title":"International Journal of Robotics Research"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2893803"},{"key":"ref3","article-title":"Vins-mono: A robust and versatile monocular visual-inertial state estimator","author":"qin","year":"2017"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919835021"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794078"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696806"},{"key":"ref2","article-title":"Keyframe-based visual-inertial odometry using nonlinear optimization","author":"leutenegger","year":"2014","journal-title":"International Journal of Robotics Research"},{"key":"ref9","article-title":"LIPS: Lidarinertial 3d plane slam","author":"geneva","year":"2018","journal-title":"Proc IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref1","first-page":"3565","article-title":"A multi-state constraint Kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2007","journal-title":"International Conference on Robotics and Automation"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460870"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206592"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2170332"},{"key":"ref24","article-title":"Indirect Kalman filter for 3D attitude estimation","author":"trawny","year":"2005"},{"key":"ref23","article-title":"Factor graphs and gtsam: A hands-on introduction","author":"dellaert","year":"2012","journal-title":"Technical Report"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593603"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914538326"}],"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\/09197280.pdf?arnumber=9197280","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,28]],"date-time":"2022-06-28T00:23:27Z","timestamp":1656375807000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9197280\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5]]},"references-count":38,"URL":"https:\/\/doi.org\/10.1109\/icra40945.2020.9197280","relation":{},"subject":[],"published":{"date-parts":[[2020,5]]}}}