{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T16:47:12Z","timestamp":1777654032640,"version":"3.51.4"},"reference-count":33,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,9]]},"DOI":"10.1109\/iros.2011.6094680","type":"proceedings-article","created":{"date-parts":[[2011,12,6]],"date-time":"2011-12-06T16:46:42Z","timestamp":1323190002000},"page":"5054-5060","source":"Crossref","is-referenced-by-count":35,"title":["State estimation of an underwater robot using visual and inertial information"],"prefix":"10.1109","author":[{"given":"Florian","family":"Shkurti","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ioannis","family":"Rekleitis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Milena","family":"Scaccia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gregory","family":"Dudek","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref33","article-title":"Lucas-Kanade 20 Years On: A Unifying Framework: Part 1","author":"baker","year":"2002","journal-title":"Tech Rep CMU-RI-TR-02-16"},{"key":"ref32","first-page":"331","article-title":"Fast approximate nearest neighbors with automatic algorithm configuration","author":"muja","year":"2009","journal-title":"Int Conf on Computer Vision Theory and Application"},{"key":"ref31","first-page":"593","article-title":"Good features to track","author":"shi","year":"1994","journal-title":"IEEE Conf on Computer Vision and Pattern Recognition"},{"key":"ref30","first-page":"102","article-title":"CenSurE: Center surround extremas for realtime feature detection and matching","author":"agrawal","year":"2008","journal-title":"ECCV"},{"key":"ref10","first-page":"3565","article-title":"A multi-state constraint Kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2007","journal-title":"Proc of the IEEE Int Con! on Robotics and Automation"},{"key":"ref11","first-page":"1","article-title":"A dual-layer estimator architecture for long-term localization","year":"0","journal-title":"Proc of the Workshop on Visual Localization for Mobile Platforms Anchorave AK 200R"},{"key":"ref12","article-title":"Visual-inertial navigation, mapping and localization: A scalable real-time causal approach","author":"jones","year":"2010","journal-title":"Int J of Robotics Research"},{"key":"ref13","article-title":"Combined visual and inertial navigation for an unmanned aerial vehicle","author":"kelly","year":"2007","journal-title":"Proc 6th Int Conf Field and Service Robotics"},{"key":"ref14","first-page":"4556","article-title":"Experiments with underwater robot localization and tracking","author":"corke","year":"2007","journal-title":"Proc of IEEE Int Conf on Robotics and Automation"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2008.5151887"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2002.1191872"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/48.989892"},{"key":"ref18","first-page":"57","article-title":"Visually navigating the RMS Titanic with SLAM information filters","author":"eustice","year":"2005","journal-title":"Proc of Robotics Science and Systems"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICARCV.2004.1469484"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"ref4","article-title":"Large scale visual odometry for rough terrain","author":"konolige","year":"2007","journal-title":"proceedings International Symposium of Robotics Research"},{"key":"ref27","first-page":"404","article-title":"SURF: Speeded up robust features","author":"bay","year":"2006","journal-title":"ECCV"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2004.1315094"},{"key":"ref6","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2009.V.039","article-title":"Highly Scalable Appearance-Only SLAM FAB-MAP 2.0","author":"cummins","year":"2009","journal-title":"Robotics Science and Systems"},{"key":"ref29","first-page":"430","article-title":"Machine learning for high-speed corner detection","author":"rosten","year":"2006","journal-title":"Eur Cont on Computer Vision"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509133"},{"key":"ref8","author":"wozniak","year":"2007","journal-title":"Light Absorption in Sea Water"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651158"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5539794"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.5244\/C.22.101"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2007.1049"},{"key":"ref20","article-title":"Quaternions proposed standard conventions","author":"breckenridge","year":"1999","journal-title":"JPL Tech Rep INTEROFFICE MEMORANDUM 10M 343-79-1199"},{"key":"ref22","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1007\/BF03546430","article-title":"Attitude estimation or quaternion estimation?","volume":"\ufffd2","author":"markley","year":"2004","journal-title":"The I nf the Astronautical Sciences"},{"key":"ref21","article-title":"Indirect Kalman Filter for 3D Attitude Estimation","author":"trawny","year":"2005","journal-title":"Tech Reo 2005-002"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910382802"},{"key":"ref23","article-title":"The vectorial parameterization of rorarion","volume":"1?","author":"bauchau","year":"0","journal-title":"Nonl in enr Ttvmamir s"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CRV.2011.28"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004486"}],"event":{"name":"2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)","location":"San Francisco, CA","start":{"date-parts":[[2011,9,25]]},"end":{"date-parts":[[2011,9,30]]}},"container-title":["2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/6034548\/6094399\/06094680.pdf?arnumber=6094680","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,12,18]],"date-time":"2021-12-18T21:17:56Z","timestamp":1639862276000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6094680\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,9]]},"references-count":33,"URL":"https:\/\/doi.org\/10.1109\/iros.2011.6094680","relation":{},"subject":[],"published":{"date-parts":[[2011,9]]}}}