{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:26:36Z","timestamp":1766067996863,"version":"3.28.0"},"reference-count":26,"publisher":"IEEE","license":[{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"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":[[2024,5,13]]},"DOI":"10.1109\/icra57147.2024.10611512","type":"proceedings-article","created":{"date-parts":[[2024,8,8]],"date-time":"2024-08-08T17:51:05Z","timestamp":1723139465000},"page":"1687-1693","source":"Crossref","is-referenced-by-count":3,"title":["JacobiGPU: GPU-Accelerated Numerical Differentiation for Loop Closure in Visual SLAM"],"prefix":"10.1109","author":[{"given":"Dhruv","family":"Kumar","sequence":"first","affiliation":[{"name":"Simon Fraser University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shishir","family":"Gopinath","sequence":"additional","affiliation":[{"name":"Simon Fraser University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Karthik","family":"Dantu","sequence":"additional","affiliation":[{"name":"University at Buffalo"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Steven Y.","family":"Ko","sequence":"additional","affiliation":[{"name":"Simon Fraser University"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1638022"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1678144"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075644"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211056674"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196885"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196524"},{"issue":"1","key":"ref7","first-page":"101","article-title":"The levenberg-marquardt algorithm","volume":"11","author":"Ranganathan","year":"2004","journal-title":"Tutoral on LM algorithm"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0599-9"},{"key":"ref9","first-page":"9","article-title":"g2o: A general framework for (hyper) graph optimization","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Grisetti"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593419"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-44480-7_21"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1145\/1486525.1486527"},{"key":"ref15","first-page":"4","article-title":"Factor graphs and gtsam: A hands-on introduction","volume":"2","author":"Dellaert","year":"2012","journal-title":"Georgia Institute of Technology, Tech. Rep"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-95459-8_24"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918784361"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.23919\/MIPRO52101.2021.9596721"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139836"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/lcsys.2023.3340619"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914523689"},{"article-title":"Ceres Solver","year":"2022","author":"Agarwal","key":"ref23"},{"volume-title":"Programming massively parallel processors: a hands-on approach","year":"2016","author":"Kirk","key":"ref24"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160499"},{"issue":"10","key":"ref26","volume-title":"Lie algebras","author":"Jacobson","year":"1979"}],"event":{"name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2024,5,13]]},"location":"Yokohama, Japan","end":{"date-parts":[[2024,5,17]]}},"container-title":["2024 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/10609961\/10609862\/10611512.pdf?arnumber=10611512","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,11]],"date-time":"2024-08-11T04:18:30Z","timestamp":1723349910000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10611512\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,13]]},"references-count":26,"URL":"https:\/\/doi.org\/10.1109\/icra57147.2024.10611512","relation":{},"subject":[],"published":{"date-parts":[[2024,5,13]]}}}