{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,20]],"date-time":"2026-02-20T18:12:49Z","timestamp":1771611169853,"version":"3.50.1"},"reference-count":38,"publisher":"IEEE","license":[{"start":{"date-parts":[[2020,10,24]],"date-time":"2020-10-24T00:00:00Z","timestamp":1603497600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,10,24]],"date-time":"2020-10-24T00:00:00Z","timestamp":1603497600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,10,24]],"date-time":"2020-10-24T00:00:00Z","timestamp":1603497600000},"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":[[2020,10,24]]},"DOI":"10.1109\/iros45743.2020.9341660","type":"proceedings-article","created":{"date-parts":[[2021,3,15]],"date-time":"2021-03-15T10:49:56Z","timestamp":1615805396000},"page":"5104-5111","source":"Crossref","is-referenced-by-count":23,"title":["OrcVIO: Object residual constrained Visual-Inertial Odometry"],"prefix":"10.1109","author":[{"given":"Mo","family":"Shan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiaojun","family":"Feng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nikolay","family":"Atanasov","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913491297"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696514"},{"key":"ref32","article-title":"Indirect Kalman Filter for 3D Attitude Estimation","author":"trawny","year":"2005","journal-title":"University of Minnesota Dept of Comp Sci & Eng Tech Rep Tech Rep"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1107\/S0567739478001680"},{"key":"ref30","article-title":"Teaser: Fast and certifiable point cloud registration","author":"yang","year":"2020"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593941"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2017.108"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.597"},{"key":"ref34","article-title":"Quaternion kinematics for the error-state KF","author":"sola","year":"2012","journal-title":"Technical report LAAS CNRS Toulouse France"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989089"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460816"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2018\/722"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.380"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2820722"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2909168"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2866205"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793728"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1017\/9781316671528"},{"key":"ref4","first-page":"3565","article-title":"A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation","author":"mourikis","year":"2007","journal-title":"IEEE Int Conf on Robotics and Automation (ICRA)"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2016.7533003"},{"key":"ref27","first-page":"1050","article-title":"Dropout as a bayesian approximation: Representing model uncertainty in deep learning","volume":"48","author":"gal","year":"2016","journal-title":"Proceedings of the 33rd International Conference on Machine Learning"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"2980","DOI":"10.1109\/ICCV.2017.322","article-title":"Mask R-CNN","author":"he","year":"2017","journal-title":"IEEE International Conference on Computer Vision (ICCV)"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126266"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461251"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2015.336"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00212"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460664"},{"key":"ref20","author":"hartley","year":"2003","journal-title":"Multiple View Geometry in Computer Vision"},{"key":"ref22","article-title":"Yolov3: An incremental improvement","author":"redmon","year":"2018"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2008.275"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989203"},{"key":"ref23","first-page":"328","article-title":"Starmap for category0agnostic keypoint and viewpoint estimation","author":"zhou","year":"2018","journal-title":"Comput Vis – ECCV"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696807"},{"key":"ref25","first-page":"674","article-title":"An iterative image registration technique with an application to stereo vision","author":"lucas","year":"1981","journal-title":"Int Joint Conf on Artificial Intelligence (IJCAI)"}],"event":{"name":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Las Vegas, NV, USA","start":{"date-parts":[[2020,10,24]]},"end":{"date-parts":[[2021,1,24]]}},"container-title":["2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9340668\/9340635\/09341660.pdf?arnumber=9341660","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,28]],"date-time":"2022-06-28T17:57:47Z","timestamp":1656439067000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9341660\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,24]]},"references-count":38,"URL":"https:\/\/doi.org\/10.1109\/iros45743.2020.9341660","relation":{},"subject":[],"published":{"date-parts":[[2020,10,24]]}}}