{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,16]],"date-time":"2026-10-16T12:58:11Z","timestamp":1792155491312,"version":"4.4.0"},"reference-count":40,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"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":[[2019,11]]},"DOI":"10.1109\/iros40897.2019.8967892","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"354-361","source":"Crossref","is-referenced-by-count":12,"title":["RISE-SLAM: A Resource-aware Inverse Schmidt Estimator for SLAM"],"prefix":"10.1109","author":[{"given":"Tong","family":"Ke","sequence":"first","affiliation":[{"name":"Univ. of Minnesota,Minneapolis,MN,USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kejian J.","family":"Wu","sequence":"additional","affiliation":[{"name":"Univ. of Minnesota,Minneapolis,MN,USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stergios I.","family":"Roumeliotis","sequence":"additional","affiliation":[{"name":"Univ. of Minnesota,Minneapolis,MN,USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1364\/JOSAA.4.000629"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2006.264"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989741"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910390539"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2001.977154"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/70.938382"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref35","author":"ke","year":"0","journal-title":"Visualinertial SLAM with inverse Schmidt estimators"},{"key":"ref34","author":"wu","year":"0","journal-title":"Inverse Schmidt estimators"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072768"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"ref40","author":"bar-shalom","year":"2004","journal-title":"Estimation with Applications to Tracking and Navigation Theory Algorithms and Software"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911430419"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2013.183"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2277549"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.008"},{"key":"ref16","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1109\/TRO.2016.2623335","article-title":"SVO: Semidirect visual odometry for monocular and multicamera systems","volume":"33","author":"forster","year":"2017","journal-title":"IEEE Trans on Robotics"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917728574"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2658577"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065387"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906075026"},{"key":"ref4","first-page":"3482","article-title":"A multi-state constraint Kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2007","journal-title":"Proc of the IEEE International Conference on Robotics and Automation"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045479"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: A versatile and accurate monocular slam system","volume":"31","author":"mur-artal","year":"2015","journal-title":"IEEE Trans on Robotics"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"1","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 Trans on Robotics"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1016\/B978-1-4831-6716-9.50011-4"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00211"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2653359"},{"key":"ref2","first-page":"834","article-title":"LSD-SLAM: Large-scale direct monocular SLAM","author":"engel","year":"2014","journal-title":"Proc of the European Conference on Computer Vision"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"ref9","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1007\/3-540-44480-7_21","article-title":"Bundle adjustment &#x2013; a modern synthesis","volume":"1883","author":"triggs","year":"1999","journal-title":"Proc of the International Workshop on Vision Algorithms Theory and Practice ser Lecture Notes in Computer Science"},{"key":"ref20","doi-asserted-by":"crossref","first-page":"1066","DOI":"10.1109\/TRO.2008.2004832","article-title":"Frameslam: From bundle adjustment to real-time visual mapping","volume":"24","author":"konolige","year":"2008","journal-title":"IEEE Trans on Robotics"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.1997.609105"},{"key":"ref21","first-page":"3638","article-title":"C-KLAM: Constrained keyframe-based localization and mapping for long-term navigation","author":"nerurkar","year":"2014","journal-title":"Proc of the IEEE International Conference on Robotics and Automation"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909353640"},{"key":"ref23","author":"jazwinski","year":"1970","journal-title":"Stochastic Processes and Filtering Theory"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.037"},{"key":"ref25","doi-asserted-by":"crossref","first-page":"264","DOI":"10.1109\/TRO.2009.2012342","article-title":"Vision-aided inertial navigation for spacecraft entry, descent, and landing","volume":"25","author":"mourikis","year":"2009","journal-title":"IEEE Trans on Robotics"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Macau, China","start":{"date-parts":[[2019,11,3]]},"end":{"date-parts":[[2019,11,8]]}},"container-title":["2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8957008\/8967518\/08967892.pdf?arnumber=8967892","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T18:44:32Z","timestamp":1753901072000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8967892\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":40,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8967892","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}