{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,7]],"date-time":"2026-05-07T16:30:10Z","timestamp":1778171410268,"version":"3.51.4"},"reference-count":38,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100006196","name":"Jet Propulsion Laboratory","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006196","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100006961","name":"California Institute of Technology","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006961","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000104","name":"National Aeronautics and Space Administration","doi-asserted-by":"publisher","award":["80NM0018D0004"],"award-info":[{"award-number":["80NM0018D0004"]}],"id":[{"id":"10.13039\/100000104","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100006961","name":"California Institute of Technology","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006961","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1109\/lra.2021.3058918","type":"journal-article","created":{"date-parts":[[2021,2,13]],"date-time":"2021-02-13T01:55:27Z","timestamp":1613181327000},"page":"2421-2428","source":"Crossref","is-referenced-by-count":51,"title":["Range-Visual-Inertial Odometry: Scale Observability Without Excitation"],"prefix":"10.1109","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1509-4401","authenticated-orcid":false,"given":"Jeff","family":"Delaune","sequence":"first","affiliation":[]},{"given":"David S.","family":"Bayard","sequence":"additional","affiliation":[]},{"given":"Roland","family":"Brockers","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref38","article-title":"Vision based navigation for micro helicopters","author":"weiss","year":"2012"},{"key":"ref33","article-title":"Pyramidal implementation of the lucas kanade feature tracker","author":"bouguet","year":"2000","journal-title":"Intel Corporation Microprocessor Research Labs"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2008.275"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968238"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2003276"},{"key":"ref37","article-title":"Observability-constrained vision-aided inertial navigation","author":"hesch","year":"2012"},{"key":"ref36","author":"g\u00e4rtner","year":"2013","journal-title":"Comput Geometry Lecture Notes HS 2013"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref34","first-page":"594","article-title":"Good features to track","author":"shi","year":"0","journal-title":"Proc Conf Comput Vis Pattern Recognit"},{"key":"ref10","first-page":"3565","article-title":"A multi-state constraint kalman filter for vision-aided inertial navigation","author":"mourikis","year":"0","journal-title":"Proc IEEE Proc Int Conf Robot Automat"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353389"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462905"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460664"},{"key":"ref16","article-title":"Closed-form solutions for attitude, speed, absolute scale and bias determination by fusing vision and inertial measurements","author":"martinelli","year":"2011"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910388963"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910382802"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref28","article-title":"Indirect kalman filter for 3D attitude estimation","author":"trawny","year":"2005"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225147"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979982"},{"key":"ref3","article-title":"xVIO: A. range-visual-inertial odometry framework","author":"delaune","year":"2020"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906584"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.031"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2658577"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: A versatile and accurate monocular SLAM system","volume":"31","author":"mur-artal","year":"2015","journal-title":"IEEE Trans Robot"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/AERO47225.2020.9172289"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.2514\/6.2019-1411"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2277549"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696807"},{"key":"ref21","article-title":"Unobservable directions of VINS under special motions","author":"wu","year":"2016"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/s11554-017-0670-y"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2929133"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1177\/1756829317705325"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1186\/s41074-017-0027-2"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9285111\/09353193.pdf?arnumber=9353193","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:54:21Z","timestamp":1652194461000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9353193\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4]]},"references-count":38,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2021.3058918","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4]]}}}