{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T11:13:39Z","timestamp":1770290019960,"version":"3.49.0"},"reference-count":28,"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\/iros40897.2019.8968554","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"5256-5263","source":"Crossref","is-referenced-by-count":38,"title":["A Benchmark for Visual-Inertial Odometry Systems Employing Onboard Illumination"],"prefix":"10.1109","author":[{"given":"Mike","family":"Kasper","sequence":"first","affiliation":[{"name":"University of Colorado. Boulder,Autonomous Robotics and Perception Group (APRG),Colorado,USA"}]},{"given":"Steve","family":"McGuire","sequence":"additional","affiliation":[{"name":"University of Colorado. Boulder,Autonomous Robotics and Perception Group (APRG),Colorado,USA"}]},{"given":"Christoffer","family":"Heckman","sequence":"additional","affiliation":[{"name":"University of Colorado. Boulder,Autonomous Robotics and Perception Group (APRG),Colorado,USA"}]}],"member":"263","reference":[{"key":"ref10","article-title":"Keyframe-based visualinertial odometry using nonlinear optimization","author":"leutenegger","year":"2014","journal-title":"International Journal of Robotics Research (IJRR)"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.5244\/C.27.93"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916679498"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21532"},{"key":"ref14","doi-asserted-by":"crossref","DOI":"10.1109\/TRO.2017.2705103","article-title":"ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras","author":"mur-artal","year":"2017","journal-title":"Transactions on Robotics"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126513"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989771"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2014.290"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989525"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989443"},{"key":"ref28","article-title":"Estimation of the Size and Location of Multiple Area Light Sources","author":"zhou","year":"2004","journal-title":"The International Conference on Pattern Recognition (ICPR)"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2658577"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2846813"},{"key":"ref3","article-title":"Defense Advanced Research Projects Agency (DARPA)","year":"2018","journal-title":"Subterranean challenge"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref5","article-title":"A Photometrically Calibrated Benchmark For Monocular Visual Odometry","author":"engel","year":"2016","journal-title":"ArXiv Preprint"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-44480-7_18"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907054"},{"key":"ref2","article-title":"The EuRoC MAV Datasets","author":"burri","year":"2015","journal-title":"International Journal of Robotics Research (IJRR)"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696650"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ACPR.2013.141"},{"key":"ref20","author":"roy","year":"2018","journal-title":"International Conference on Robotics and Automation (ICRA) Workshop on Robot Teammates Operating in Dynamic Unstructured Environments (RT-DUNE)"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.403"},{"key":"ref21","article-title":"Polygonal Light Source Estimation","author":"schnieders","year":"2009","journal-title":"in Asian Conference on Computer Vision (ACCV)"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40246-3_12"},{"key":"ref26","doi-asserted-by":"crossref","DOI":"10.1117\/12.956740","article-title":"Photometric Stereo: A Reflectance Map Technique For Determining Surface Orientation From Image Intensity","author":"woodham","year":"1979","journal-title":"Image Understanding Systems and Industrial Applications"},{"key":"ref25","author":"tabib","year":"2018","journal-title":"Robotics Science and Systems (RSS) Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments"}],"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\/08968554.pdf?arnumber=8968554","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T18:23:41Z","timestamp":1755800621000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8968554\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":28,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8968554","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}