{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T01:57:30Z","timestamp":1776131850697,"version":"3.50.1"},"reference-count":47,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100006094","name":"University of Delaware","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006094","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["IIS-1924897"],"award-info":[{"award-number":["IIS-1924897"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100005423","name":"ARL","doi-asserted-by":"publisher","award":["W911NF-19-2-0226,W911NF-20-2-0098"],"award-info":[{"award-number":["W911NF-19-2-0226,W911NF-20-2-0098"]}],"id":[{"id":"10.13039\/100005423","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,5,23]]},"DOI":"10.1109\/icra46639.2022.9811362","type":"proceedings-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T19:36:40Z","timestamp":1657654600000},"page":"9484-9491","source":"Crossref","is-referenced-by-count":32,"title":["Tightly-coupled GNSS-aided Visual-Inertial Localization"],"prefix":"10.1109","author":[{"given":"Woosik","family":"Lee","sequence":"first","affiliation":[{"name":"University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Patrick","family":"Geneva","sequence":"additional","affiliation":[{"name":"University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yulin","family":"Yang","sequence":"additional","affiliation":[{"name":"University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guoquan","family":"Huang","sequence":"additional","affiliation":[{"name":"University of Delaware,Robot Perception and Navigation Group (RPNG),Newark,DE,USA,19716"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","author":"farrell","year":"2008","journal-title":"Aided Navigation GPS with High Rate Sensors"},{"key":"ref38","article-title":"An introduction to gnss gps, glonass, galileo and other global navigation satellite systems","author":"jeffrey","year":"2010","journal-title":"NovAtel Inc"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/BF02521844"},{"key":"ref32","article-title":"Optimization-based visual-inertial slam tightly coupled with raw gnss measurements","author":"liu","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.3390\/s18041244"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.3390\/rs11060610"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206592"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2011.08.003"},{"key":"ref35","article-title":"Indirect Kalman filter for 3D attitude estimation","author":"trawny","year":"2005","journal-title":"University of Minnesota Dept of Comp Sci & Eng Tech Rep"},{"key":"ref34","first-page":"3565","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"},{"key":"ref10","article-title":"Visualinertial-wheel odometry with online calibration","author":"lee","year":"2020","journal-title":"Proc of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref40","volume":"2","author":"chirikjian","year":"2011","journal-title":"Stochastic Models, Information Theory, and Lie Groups, Volume 1"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793604"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910382802"},{"key":"ref13","first-page":"6","article-title":"Observability-constrained vision-aided inertial navigation","volume":"1","author":"hesch","year":"2012","journal-title":"University of Minnesota Dept of Comp Sci & Eng MARS Lab Tech Rep"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196524"},{"key":"ref15","article-title":"Development of the low-cost rtk-gps receiver with an open source program package rtklib","volume":"1","author":"takasu","year":"2009","journal-title":"International Symposium on GPS\/GNSS"},{"key":"ref16","article-title":"Intermittent gpsaided vio: Online initialization and calibration","author":"lee","year":"2020","journal-title":"Proc of the IEEE International Conference on Robotics and Automation"},{"key":"ref17","article-title":"GVINS: Tightly coupled gnssvisual-inertial fusion for smooth and consistent state estimation","author":"cao","year":"2021","journal-title":"ArXiv Preprint"},{"key":"ref18","first-page":"735","article-title":"Uav position and attitude estimation using imu, gnss and camera","author":"angelino","year":"0","journal-title":"2012 15th International Conference on Information Fusion"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696917"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s10291-013-0318-8"},{"key":"ref4","article-title":"Real-time large-scale dense RGB-D SLAM with volumetric fusion","author":"whelan","year":"2014","journal-title":"International Journal of Robotics Research"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/PLANS.2010.5507322"},{"key":"ref3","first-page":"1","article-title":"3-d mapping with an rgb-d camera","author":"endres","year":"2013","journal-title":"IEEE Transactions on Robotics"},{"key":"ref6","article-title":"LIPS: Lidarinertial 3d plane slam","author":"geneva","year":"2018","journal-title":"Proc IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2016.7535488"},{"key":"ref5","first-page":"1","article-title":"Continuous-time visual-inertial odometry for event cameras","author":"mueggler","year":"2018","journal-title":"IEEE Transactions on Robotics"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2927123"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967746"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912455256"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989603"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593941"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460193"},{"key":"ref45","article-title":"Tropospheric delay modeling using gnss observations from continuously operating reference stations (cors)","author":"alojaiman","year":"2019","journal-title":"Ohio State University"},{"key":"ref22","article-title":"A general optimization-based framework for global pose estimation with multiple sensors","author":"qin","year":"2019","journal-title":"ArXiv Preprint"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3107873"},{"key":"ref42","article-title":"Visual-inertial odometry on resource-constrained systems","author":"li","year":"2014","journal-title":"UC-Riverside"},{"key":"ref24","first-page":"2281","article-title":"Multiantenna vision-and-inertial-aided cdgnss for micro aerial vehicle pose estimation","author":"yoder","year":"0","journal-title":"Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020)"},{"key":"ref41","author":"hofmann-wellenhof","year":"2012","journal-title":"Global Positioning System Theory and Practice"},{"key":"ref23","first-page":"1309","article-title":"High-precision globally-referenced position and attitude via a fusion of visual slam, carrierphase-based gps, and inertial measurements","author":"shepard","year":"0","journal-title":"2014 IEEE\/ION Position Location and Navigation Symposium - PLANS 2014 PLANS"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561254"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1186\/s43020-020-00033-9"},{"key":"ref43","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1109\/MCS.2007.384125","article-title":"Estimation on graphs from relative measurements","volume":"27","author":"barooah","year":"2007","journal-title":"IEEE Control Systems Magazine"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341697"}],"event":{"name":"2022 IEEE International Conference on Robotics and Automation (ICRA)","location":"Philadelphia, PA, USA","start":{"date-parts":[[2022,5,23]]},"end":{"date-parts":[[2022,5,27]]}},"container-title":["2022 International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9811522\/9811357\/09811362.pdf?arnumber=9811362","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:03:41Z","timestamp":1667516621000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9811362\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,23]]},"references-count":47,"URL":"https:\/\/doi.org\/10.1109\/icra46639.2022.9811362","relation":{},"subject":[],"published":{"date-parts":[[2022,5,23]]}}}