{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T13:55:20Z","timestamp":1774965320826,"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"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9561547","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"5215-5221","source":"Crossref","is-referenced-by-count":18,"title":["Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps"],"prefix":"10.1109","author":[{"given":"Liangliang","family":"Pan","sequence":"first","affiliation":[{"name":"TuSimple,Beijing,China"}]},{"given":"Kaijin","family":"Ji","sequence":"additional","affiliation":[{"name":"TuSimple,Beijing,China"}]},{"given":"Ji","family":"Zhao","sequence":"additional","affiliation":[{"name":"TuSimple,Beijing,China"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989603"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793511"},{"key":"ref12","doi-asserted-by":"crossref","DOI":"10.1109\/IROS45743.2020.9341176","article-title":"LIO-SAM: Tightly-coupled LiDAR inertial odometry via smoothing and mapping","author":"shan","year":"2020"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461224"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917696568"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967596"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967880"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.3390\/rs11111348"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21936"},{"key":"ref28","article-title":"Ceres solver","author":"agarwal","year":"0"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2007.III.016"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968122"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1561\/9781680833270"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249285"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509700"},{"key":"ref8","first-page":"109","article-title":"LOAM: Lidar odometry and mapping in real-time","author":"zhang","year":"2014","journal-title":"Robotics Science and Systems Conference (RSS)"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20314"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942558"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2013.6629509"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21809"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980267"},{"key":"ref22","article-title":"Quaternion kinematics for the error-state Kalman filter","author":"sola","year":"2017"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196698"},{"key":"ref24","first-page":"1","article-title":"On-manifold preintegration for real-time visual&#x2013;inertial odometry","volume":"33","author":"forster","year":"2016","journal-title":"IEEE Transactions on Robotics (TRO)"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21537"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"1004","DOI":"10.1109\/TRO.2018.2853729","article-title":"VINS-Mono: A robust and versatile monocular visual-inertial state estimator","volume":"34","author":"qin","year":"2018","journal-title":"IEEE Transactions on Robotics (TRO)"},{"key":"ref25","article-title":"Unobservable directions of VINS under special motions","author":"wu","year":"2016","journal-title":"University of Minnesota Technical Report"}],"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\/09561547.pdf?arnumber=9561547","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,12]],"date-time":"2023-01-12T22:49:28Z","timestamp":1673563768000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561547\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":28,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561547","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}