{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,3]],"date-time":"2026-10-03T04:29:11Z","timestamp":1791001751218,"version":"4.1.0"},"reference-count":28,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018,10]]},"DOI":"10.1109\/iros.2018.8593643","type":"proceedings-article","created":{"date-parts":[[2019,1,23]],"date-time":"2019-01-23T21:33:30Z","timestamp":1548279210000},"page":"6319-6326","source":"Crossref","is-referenced-by-count":84,"title":["Robocentric Visual-Inertial Odometry"],"prefix":"10.1109","author":[{"given":"Zheng","family":"Huai","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guoquan","family":"Huang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2277549"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907581"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2651376"},{"key":"ref13","doi-asserted-by":"crossref","first-page":"716","DOI":"10.1016\/S1474-6670(17)32063-3","article-title":"Limits to the consistency of ekf-based slam","volume":"37","author":"castellanos","year":"2004","journal-title":"IFAC Proceedings Volumes"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.005"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354410"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917728574"},{"key":"ref17","article-title":"Quaternions proposed standard conventions","author":"breckenridge","year":"1979","journal-title":"Technical Report for NASA Jet Propulsion Laboratory"},{"key":"ref18","article-title":"Indirect kalman filter for 3d attitude estimation","author":"trawny","year":"2005","journal-title":"MARS University of Minnesota Tech Rep"},{"key":"ref19","article-title":"Robocentric visual-inertial odometry","author":"huai","year":"2018","journal-title":"University of Delaware Tech Rep"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907672"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910382802"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139939"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2653359"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487335"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910388963"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909353640"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364024"},{"key":"ref20","article-title":"High-accuracy preintegration for visual-inertial navigation","author":"eckenhoff","year":"2016","journal-title":"Intl Workshop on the Algorithmic Foundations of Robotics"},{"key":"ref22","volume":"3","author":"golub","year":"2012","journal-title":"Matrix Computations"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2003276"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"ref23","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/IECON.1990.149118","article-title":"Local observability matrix and its application to observability analyses","author":"chen","year":"1990","journal-title":"IEEE Annual Conf Industrial Electronics Society"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000011205.11775.fd"},{"key":"ref25","first-page":"593","article-title":"Good features to track","author":"shi","year":"1994","journal-title":"IEEE Conf Comp Vis and Patt Recog (CVPR)"}],"event":{"name":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Madrid","start":{"date-parts":[[2018,10,1]]},"end":{"date-parts":[[2018,10,5]]}},"container-title":["2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8574473\/8593358\/08593643.pdf?arnumber=8593643","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,8,24]],"date-time":"2020-08-24T00:41:22Z","timestamp":1598229682000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8593643\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,10]]},"references-count":28,"URL":"https:\/\/doi.org\/10.1109\/iros.2018.8593643","relation":{},"subject":[],"published":{"date-parts":[[2018,10]]}}}