{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T00:21:48Z","timestamp":1787012508701,"version":"build-2736575974"},"reference-count":21,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"NSERC Collaborative Research and Development, Engage, and Discovery Grant programs"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2020,4]]},"DOI":"10.1109\/lra.2020.2965882","type":"journal-article","created":{"date-parts":[[2020,1,14]],"date-time":"2020-01-14T17:38:24Z","timestamp":1579023504000},"page":"906-913","source":"Crossref","is-referenced-by-count":14,"title":["The Complex-Step Derivative Approximation on Matrix Lie Groups"],"prefix":"10.1109","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9380-8361","authenticated-orcid":false,"given":"Charles Champagne","family":"Cossette","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3209-6479","authenticated-orcid":false,"given":"Alex","family":"Walsh","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1987-9268","authenticated-orcid":false,"given":"James Richard","family":"Forbes","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1145\/838250.838251"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1137\/S003614459631241X"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref13","article-title":"AER 1513 course assignments","author":"barfoot","year":"2009","journal-title":"State Estimation for Aerospace Vehicles"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-8176-4803-9"},{"key":"ref15","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-13467-3","author":"hall","year":"2015","journal-title":"Lie Groups Lie Algebras and Representations"},{"key":"ref16","article-title":"Practical Considerations and Extensions of the Invariant Extended Kalman Filtering Framework","author":"arsenault","year":"2019"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"ref18","article-title":"A guide to the complex-step derivative approximation","year":"2017"},{"key":"ref19","first-page":"1","article-title":"Second-order Kalman filters using multi-complex step derivatives","volume":"143","author":"vittaldev","year":"2012","journal-title":"Advances Astronautical Sci"},{"key":"ref4","first-page":"1","article-title":"Math of GTSAM","year":"2019"},{"key":"ref3","first-page":"1455","article-title":"Manopt, a matlab toolbox for optimization on manifolds","volume":"15","author":"boumal","year":"2014","journal-title":"Mach Learn Res"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_29"},{"key":"ref5","first-page":"57","article-title":"LIEDRIVERS - A toolbox for the efficient computation of lie derivatives based on the object-oriented algorithmic differentiation package ADOL-C","author":"r\u00f6benack","year":"0","journal-title":"Proc Workshop Equ -Based Object-Oriented Model Lang Tools"},{"key":"ref8","article-title":"Sophus - Lie groups for 2d\/3d Geometry","author":"strasdat","year":"2019"},{"key":"ref7","first-page":"1","article-title":"Pymanopt: A python toolbox for optimization on manifolds using automatic differentiation","volume":"17","author":"townsend","year":"2016","journal-title":"J Mach Learn Res"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1515\/9781400830244"},{"key":"ref1","author":"barfoot","year":"2019","journal-title":"State Estimation for Robotics"},{"key":"ref9","article-title":"Ceres solver a large scale non-linear optimization library","author":"agarwal","year":"2019"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2778765"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.cam.2007.07.026"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/8932682\/08957301.pdf?arnumber=8957301","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T13:32:50Z","timestamp":1651066370000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8957301\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4]]},"references-count":21,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2020.2965882","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,4]]}}}