{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,28]],"date-time":"2026-04-28T00:02:53Z","timestamp":1777334573498,"version":"3.51.4"},"reference-count":39,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2017,9]]},"DOI":"10.1109\/iros.2017.8202308","type":"proceedings-article","created":{"date-parts":[[2017,12,14]],"date-time":"2017-12-14T22:12:59Z","timestamp":1513289579000},"page":"1317-1323","source":"Crossref","is-referenced-by-count":18,"title":["Omnidirectional visual-inertial odometry using multi-state constraint Kalman filter"],"prefix":"10.1109","author":[{"given":"Milad","family":"Ramezani","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kourosh","family":"Khoshelham","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Laurent","family":"Kneip","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","year":"0","journal-title":"Systron donner inertial"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/34.865186"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1127\/1432-8364\/2012\/0112"},{"key":"ref32","article-title":"Quaternion kinematics for the error-state kf","author":"sola","year":"2012","journal-title":"Tech Rep"},{"key":"ref31","doi-asserted-by":"crossref","first-page":"1235","DOI":"10.1109\/ROBIO.2014.7090502","article-title":"A simple algorithm for position and velocity estimation of mobile robots using omnidirectional vision and inertial sensors","author":"li","year":"2014","journal-title":"Robotics and Biomimetics (ROBIO) The 2014 IEEE International Conference on"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICVS.2006.3"},{"key":"ref37","first-page":"81","article-title":"Two-and three-view geometry for spherical cameras","author":"torii","year":"2005","journal-title":"Proc Omnidirectional Vision Camera Networks and Non-classical Cameras"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2006.II.011"},{"key":"ref35","author":"tomasi","year":"1991","journal-title":"Detection and tracking of point features"},{"key":"ref34","doi-asserted-by":"crossref","first-page":"346","DOI":"10.1016\/j.cviu.2007.09.014","article-title":"Speeded-up robust features (surf)","volume":"110","author":"bay","year":"2008","journal-title":"Computer Vision and Image Understanding"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2001.913772"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.021"},{"key":"ref12","author":"langelaan","year":"2006","journal-title":"State estimation for autonomous flight in cluttered environments"},{"key":"ref13","author":"strelow","year":"2004","journal-title":"Motion estimation from image and inertial measurements"},{"key":"ref14","first-page":"10","article-title":"Six dof decentralised slam","author":"ong","year":"2003","journal-title":"Australasian Conference on Robotics and Automation"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2006.263"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014441"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ACVMOT.2005.48"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1470719"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/9.486640"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2006.153"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.006"},{"key":"ref27","first-page":"445","article-title":"A unifying theory for central panoramic systems and practical implications","author":"geyer","year":"2000","journal-title":"European Conference on Computer Vision"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045593"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364084"},{"key":"ref5","article-title":"A multi-state constraint kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2006","journal-title":"Tech Rep"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20360"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.006"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2002.1191915"},{"key":"ref1","doi-asserted-by":"crossref","first-page":"3565","DOI":"10.1109\/ROBOT.2007.364024","article-title":"A multi-state constraint kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2007","journal-title":"Robotics and Automation 2007 IEEE International Conference on"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007930700152"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20103"},{"key":"ref21","first-page":"6003","article-title":"Vision-based kalman filtering for aircraft state estimation and structure from motion","author":"ke","year":"2007","journal-title":"AIAA Guidance Navigation and Control Conference and Exhibit"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487210"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353366"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2001.990992"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2009.04.006"}],"event":{"name":"2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Vancouver, BC","start":{"date-parts":[[2017,9,24]]},"end":{"date-parts":[[2017,9,28]]}},"container-title":["2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8119304\/8202121\/08202308.pdf?arnumber=8202308","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,25]],"date-time":"2022-01-25T22:47:13Z","timestamp":1643150833000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/8202308\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,9]]},"references-count":39,"URL":"https:\/\/doi.org\/10.1109\/iros.2017.8202308","relation":{},"subject":[],"published":{"date-parts":[[2017,9]]}}}