{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,7]],"date-time":"2026-04-07T16:14:29Z","timestamp":1775578469433,"version":"3.50.1"},"reference-count":28,"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\/100007219","name":"Natural Science Foundation of Shanghai","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100007219","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\/icra48506.2021.9561131","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"5374-5380","source":"Crossref","is-referenced-by-count":7,"title":["B-splines for Purely Vision-based Localization and Mapping on Non-holonomic Ground Vehicles"],"prefix":"10.1109","author":[{"given":"Kun","family":"Huang","sequence":"first","affiliation":[{"name":"ShanghaiTech University,Shanghai Engineering Research Center of Intelligent Vision and Imaging"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yifu","family":"Wang","sequence":"additional","affiliation":[{"name":"Australian National University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Laurent","family":"Kneip","sequence":"additional","affiliation":[{"name":"ShanghaiTech University,Shanghai Engineering Research Center of Intelligent Vision and Imaging"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905058239"},{"key":"ref11","article-title":"Localization for ground robots: On manifold representation, integration, re-parameterization, and optimization","volume":"1909 3423","author":"zhang","year":"2019","journal-title":"ArXiv"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152255"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-011-0441-3"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01299"},{"key":"ref15","first-page":"2746","article-title":"Motion estimation for self-driving cars with a generalized camera","author":"lee","year":"2013","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2017.8122816"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01216-8_40"},{"key":"ref18","author":"piegl","year":"2012","journal-title":"The NURBS Book"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968604"},{"key":"ref28","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":"ref4","article-title":"Tightly-coupled Monocular Visual-odometric SLAM using Wheels and a MEMS Gyroscope","volume":"1804 4854","author":"quan","year":"2018","journal-title":"ArXiv"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980291"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2226380"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2019.8916940"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2017.8088158"},{"key":"ref7","article-title":"Kinematic modelling and analysis of skid-steered mobile robots with applications to low-cost inertial-measurement unit-based motion estimation","volume":"25","author":"yi","year":"2009","journal-title":"IEEE Transactions on Robotics (T-RO)"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989603"},{"key":"ref9","first-page":"1","article-title":"Indoor localization for skid-steering mobile robot by fusing encoder, gyroscope, and magnetometer","volume":"99","author":"lv","year":"2017","journal-title":"IEEE Transactions on Systems Man and Cybernetics (SMC)"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915585860"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-0207(19990910)46:1<45::AID-NME662>3.0.CO;2-K"},{"key":"ref22","article-title":"The OpenCV Library","author":"bradski","year":"2000","journal-title":"Dr Dobb&#x2019;s J Softw Tools"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref24","article-title":"Ceres solver","author":"agarwal","year":"0"},{"key":"ref23","article-title":"Eigen v3","author":"guennebaud","year":"2010"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"ref25","volume":"26","author":"ma","year":"2012","journal-title":"An Invitation to 3-D Vision from Images to Geometric Models"}],"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\/09561131.pdf?arnumber=9561131","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,2]],"date-time":"2022-08-02T23:22:19Z","timestamp":1659482539000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561131\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":28,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561131","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}