{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T07:34:40Z","timestamp":1773646480842,"version":"3.50.1"},"reference-count":24,"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\/icra40945.2020.9197325","type":"proceedings-article","created":{"date-parts":[[2020,9,15]],"date-time":"2020-09-15T21:25:46Z","timestamp":1600205146000},"page":"3106-3111","source":"Crossref","is-referenced-by-count":13,"title":["Real-Time Graph-Based SLAM with Occupancy Normal Distributions Transforms"],"prefix":"10.1109","author":[{"given":"Cornelia","family":"Schulz","sequence":"first","affiliation":[]},{"given":"Andreas","family":"Zell","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","article-title":"Graph-based SLAM on Normal Distributions Transform Occupancy Map","author":"jel\u00ednek","year":"2016","journal-title":"Bachelor-Thesis"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152375"},{"key":"ref12","article-title":"RAWSEEDS: Robotics Advancement through Web-publishing of Sensorial and Elaborated Extensive Data Sets","author":"bonarini","year":"2006","journal-title":"Proc of IROS&#x2019;06 Workshop on Benchmarks in Robotics Research"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9156-5"},{"key":"ref14","article-title":"Multi-Modal SLAM for Outdoor Robots","author":"kuhlmann","year":"2019","journal-title":"Master&#x2019;s thesis"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696380"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912460895"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.02865"},{"key":"ref18","article-title":"Ceres Solver","author":"agarwal","year":"0"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5649043"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697032"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630878"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20204"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593602"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.08.008"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914539404"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249285"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487258"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697033"},{"key":"ref20","article-title":"ALGLIB","author":"bochkanov","year":"0"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/0-387-30065-1_16"},{"key":"ref21","article-title":"The NLopt nonlinear-optimization package","author":"johnson","year":"0"},{"key":"ref24","year":"0","journal-title":"Relative Pose Error (RPE)"},{"key":"ref23","year":"0","journal-title":"Absolute Trajectory Error (ATE)"}],"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\/09197325.pdf?arnumber=9197325","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,28]],"date-time":"2022-06-28T00:08:31Z","timestamp":1656374911000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9197325\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5]]},"references-count":24,"URL":"https:\/\/doi.org\/10.1109\/icra40945.2020.9197325","relation":{},"subject":[],"published":{"date-parts":[[2020,5]]}}}