{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T18:34:55Z","timestamp":1772908495791,"version":"3.50.1"},"reference-count":23,"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\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IIS-1704256"],"award-info":[{"award-number":["IIS-1704256"]}],"id":[{"id":"10.13039\/100000001","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\/icra46639.2022.9811634","type":"proceedings-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T19:36:40Z","timestamp":1657654600000},"page":"9477-9483","source":"Crossref","is-referenced-by-count":6,"title":["Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots"],"prefix":"10.1109","author":[{"given":"Hans","family":"Kumar","sequence":"first","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J. Joe","family":"Payne","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew","family":"Travers","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aaron M.","family":"Johnson","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Howie","family":"Choset","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460748"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2933768"},{"key":"ref12","first-page":"17","article-title":"State estimation for legged robots - consistent fusion of leg kinematics and IMU","author":"bloesch","year":"2012","journal-title":"Robotics Science and Systems"},{"key":"ref13","first-page":"3185","article-title":"Multiple relative pose graphs for robust cooperative mapping","author":"kim","year":"2010","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"ref14","author":"moravec","year":"1980","journal-title":"Obstacle Avoidance and Navigation in the Real World by a Seeing Robot Rover"},{"key":"ref15","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":"ref16","doi-asserted-by":"publisher","DOI":"10.1561\/2300000043"},{"key":"ref17","first-page":"2154","article-title":"Factor graph based incremental smoothing in inertial navigation systems","author":"indelman","year":"2012","journal-title":"International Conference on Information Fusion"},{"key":"ref18","first-page":"4290","article-title":"Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors","author":"carlone","year":"2014","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.006"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2528294"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1561\/9781680833270"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","article-title":"ORB-SLAM2: An open-source SLAM system for monocular, stereo, and RGB-D cameras","volume":"33","author":"mur-artal","year":"2017","journal-title":"IEEE Transactions on Robotics"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2017.09.010"},{"key":"ref8","article-title":"A general optimization-based framework for global pose estimation with multiple sensors","author":"qin","year":"2019","journal-title":"ArXiv Preprint"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1137\/S0036144504445133"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793349"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0067700"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1006\/cviu.1996.0006"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911430419"},{"key":"ref23","author":"grupp","year":"2017","journal-title":"evo Python package for the evaluation of odometry and slam"}],"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\/09811634.pdf?arnumber=9811634","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:06:38Z","timestamp":1667516798000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9811634\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,23]]},"references-count":23,"URL":"https:\/\/doi.org\/10.1109\/icra46639.2022.9811634","relation":{},"subject":[],"published":{"date-parts":[[2022,5,23]]}}}