{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T16:35:01Z","timestamp":1768667701181,"version":"3.49.0"},"reference-count":22,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2018,7,1]],"date-time":"2018-07-01T00:00:00Z","timestamp":1530403200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"name":"DARPA FLA program"},{"name":"Swiss National Center of Competence Research Robotics"},{"name":"Swiss National Science Foundation, and in part by the SNSF-ERC"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2018,7]]},"DOI":"10.1109\/lra.2018.2833152","type":"journal-article","created":{"date-parts":[[2018,5,4]],"date-time":"2018-05-04T18:50:30Z","timestamp":1525459830000},"page":"2710-2717","source":"Crossref","is-referenced-by-count":14,"title":["On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation"],"prefix":"10.1109","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6526-0706","authenticated-orcid":false,"given":"Zichao","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2672-9241","authenticated-orcid":false,"given":"Guillermo","family":"Gallego","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3831-6778","authenticated-orcid":false,"given":"Davide","family":"Scaramuzza","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910382802"},{"key":"ref11","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1007\/3-540-44480-7_21","article-title":"Bundle adjustment—A modern\n synthesis","volume":"1883","author":"triggs","year":"2000","journal-title":"Vision Algorithms Theory and Practice"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.037"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139939"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/18.930934"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2002.1017615"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-015-0811-3"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696514"},{"key":"ref19","article-title":"Ceres solver","author":"agarwal","year":"0"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910388963"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911430419"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2016.2550621"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref2","first-page":"3565","article-title":"A multi-state constraint Kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2007","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907079279"},{"key":"ref9","first-page":"1","article-title":"Real-time visual-inertial odometry for event cameras using keyframe-based nonlinear optimization","author":"rebecq","year":"2017","journal-title":"Proc Brit Mach Vis Conf"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224890"},{"key":"ref22","author":"chirikjian","year":"2012","journal-title":"Stochastic Models Information Theory and Lie Groups Volume 2 Analytic Methods and Modern Applications (Applied and Numerical Harmonic Analysis)"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623335"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/8302435\/08354808.pdf?arnumber=8354808","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,26]],"date-time":"2022-01-26T04:56:50Z","timestamp":1643173010000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8354808\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,7]]},"references-count":22,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/lra.2018.2833152","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,7]]}}}