{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T16:20:37Z","timestamp":1775665237520,"version":"3.50.1"},"reference-count":24,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2017,4,1]],"date-time":"2017-04-01T00:00:00Z","timestamp":1491004800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2017,4]]},"DOI":"10.1109\/lra.2017.2651376","type":"journal-article","created":{"date-parts":[[2017,1,10]],"date-time":"2017-01-10T19:21:52Z","timestamp":1484076112000},"page":"733-740","source":"Crossref","is-referenced-by-count":140,"title":["Convergence and Consistency Analysis for a 3-D Invariant-EKF SLAM"],"prefix":"10.1109","volume":"2","author":[{"given":"Teng","family":"Zhang","sequence":"first","affiliation":[]},{"given":"Kanzhi","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Jingwei","family":"Song","sequence":"additional","affiliation":[]},{"given":"Shoudong","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Gamini","family":"Dissanayake","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2277549"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/70.938381"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2006.II.028"},{"key":"ref13","first-page":"1","article-title":"On-manifold preintegration for\n real-time visual–inertial odometry","volume":"pp","author":"forster","year":"2016","journal-title":"IEEE Trans Robot"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2298059"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2008.923738"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714000678"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2473455"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2011.08.003"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2002.1184728"},{"key":"ref4","article-title":"Limits to the consistency of ekf-based slam","author":"castellanos","year":"2004","journal-title":"5th IFAC Symp Intell Auton Veh"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281644"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543252"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9499-z"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281646"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307182"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.903811"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.933280"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909353640"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-2343-9_1"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s10208-005-0179-9"},{"key":"ref21","article-title":"An EKF-SLAM algorithm with consistency properties","author":"barrau","year":"2015"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913509675"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1977.1101601"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/7797562\/07812660.pdf?arnumber=7812660","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:26:44Z","timestamp":1642004804000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7812660\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,4]]},"references-count":24,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2017.2651376","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,4]]}}}