{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,7]],"date-time":"2026-05-07T16:30:14Z","timestamp":1778171414325,"version":"3.51.4"},"reference-count":32,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004750","name":"Aeronautical Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004750","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9561087","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"13120-13126","source":"Crossref","is-referenced-by-count":14,"title":["Vanishing Point Aided LiDAR-Visual-Inertial Estimator"],"prefix":"10.1109","author":[{"given":"Peng","family":"Wang","sequence":"first","affiliation":[{"name":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zheng","family":"Fang","sequence":"additional","affiliation":[{"name":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shibo","family":"Zhao","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University,Robotics Institute,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongnan","family":"Chen","sequence":"additional","affiliation":[{"name":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ming","family":"Zhou","sequence":"additional","affiliation":[{"name":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shan","family":"An","sequence":"additional","affiliation":[{"name":"JD.COM Inc,Shan An is with Tech &#x0026; Data Center"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref32","doi-asserted-by":"crossref","first-page":"3354","DOI":"10.1109\/CVPR.2012.6248074","article-title":"Are we ready for autonomous driving? the kitti vision benchmark suite","author":"geiger","year":"2012","journal-title":"2012 IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"ref31","article-title":"Orb-slam3: An accurate open-source library for visual, visual-inertial and multi-map slam","author":"campos","year":"2020"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2915140"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630775"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.3390\/s150612816"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"1159","DOI":"10.3390\/s18041159","article-title":"Pl-vio: Tightly-coupled monocular visual&#x2013;inertial odometry using point and line features","volume":"18","author":"he","year":"2018","journal-title":"SENSORS"},{"key":"ref13","article-title":"Pl-vins: Real-time monocular visual-inertial slam with point and line","author":"fu","year":"2020"},{"key":"ref14","doi-asserted-by":"crossref","DOI":"10.1109\/IROS45743.2020.9341278","article-title":"Leveraging planar regularities for point line visual-inertial odometry","author":"li","year":"2020"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139926"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2009.2017824"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.625"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.3390\/s19102251"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/EST.2019.8806213"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2008.300"},{"key":"ref4","author":"adams","year":"1995","journal-title":"The Hitchhiker&#x2019;s Guide to the Galaxy"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.1994.323794"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594394"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508374"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9525-1"},{"key":"ref8","article-title":"A general optimization-based framework for local odometry estimation with multiple sensors","author":"qin","year":"2019"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196613"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593643"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139939"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-03427-9_1"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.021"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461102"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385802"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2388780"},{"key":"ref26","article-title":"An iterative image registration technique with an application to stereo vision","author":"lucas","year":"1981"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2017.45"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","location":"Xi'an, China","start":{"date-parts":[[2021,5,30]]},"end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09561087.pdf?arnumber=9561087","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,12]],"date-time":"2023-01-12T22:42:11Z","timestamp":1673563331000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561087\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":32,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561087","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}