{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,8]],"date-time":"2026-02-08T03:37:05Z","timestamp":1770521825752,"version":"3.49.0"},"reference-count":32,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"EU H2020"},{"name":"LOGIMATIC","award":["Galileo-2015-1-687534"],"award-info":[{"award-number":["Galileo-2015-1-687534"]}]},{"name":"GAUSS","award":["Galileo-2017-1-776293"],"award-info":[{"award-number":["Galileo-2017-1-776293"]}]},{"name":"TERRINET","award":["INFRAIA-2017-1-730994"],"award-info":[{"award-number":["INFRAIA-2017-1-730994"]}]},{"name":"MEMMO","award":["ICT-25-2017-1-780684"],"award-info":[{"award-number":["ICT-25-2017-1-780684"]}]},{"DOI":"10.13039\/501100011033","name":"Agencia Estatal de Investigaci\u00f3n","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100011033","id-type":"DOI","asserted-by":"publisher"}]},{"name":"EB-SLAM","award":["DPI2017-89564-P"],"award-info":[{"award-number":["DPI2017-89564-P"]}]},{"name":"EBCON","award":["PID2020-119244GB-I00"],"award-info":[{"award-number":["PID2020-119244GB-I00"]}]},{"name":"María de Maeztu Seal of Excellence to IRI","award":["MDM-2016-0656"],"award-info":[{"award-number":["MDM-2016-0656"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2022,4]]},"DOI":"10.1109\/lra.2022.3151404","type":"journal-article","created":{"date-parts":[[2022,2,14]],"date-time":"2022-02-14T23:03:13Z","timestamp":1644879793000},"page":"4710-4717","source":"Crossref","is-referenced-by-count":13,"title":["WOLF: A Modular Estimation Framework for Robotics Based on Factor Graphs"],"prefix":"10.1109","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2933-3381","authenticated-orcid":false,"given":"Joan","family":"Sola","sequence":"first","affiliation":[{"name":"Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1029-356X","authenticated-orcid":false,"given":"Joan","family":"Vallve","sequence":"additional","affiliation":[{"name":"Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Barcelona, Spain"}]},{"given":"Joaquim","family":"Casals","sequence":"additional","affiliation":[{"name":"Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5279-8251","authenticated-orcid":false,"given":"Jeremie","family":"Deray","sequence":"additional","affiliation":[{"name":"Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Barcelona, Spain"}]},{"given":"Mederic","family":"Fourmy","sequence":"additional","affiliation":[{"name":"LAAS-CNRS, Toulouse, France"}]},{"given":"Dinesh","family":"Atchuthan","sequence":"additional","affiliation":[{"name":"LAAS-CNRS, Toulouse, France"}]},{"given":"Andreu","family":"Corominas-Murtra","sequence":"additional","affiliation":[{"name":"Beta Robots SL, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6354-8941","authenticated-orcid":false,"given":"Juan","family":"Andrade-Cetto","sequence":"additional","affiliation":[{"name":"Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Barcelona, Spain"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-23968-7_4"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3043195"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00068"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1561\/2300000043"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2010.939925"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917691110"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509636"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8205943"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075644"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487258"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-88688-4_59"},{"key":"ref12","article-title":"Fuse stack","author":"Williams","year":"2018"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2019.xv.043"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21831"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341611"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2798283"},{"key":"ref17","article-title":"Ceres solver","author":"Agarwal","year":"2019"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979949"},{"key":"ref19","article-title":"Towards new sensing capabilities for legged locomotion using real-time state estimation with low-cost IMUs","author":"Atchuthan","year":"2018"},{"key":"ref20","article-title":"A micro lie theory for state estimation in robotics","author":"Sol","year":"2018"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354267"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2019.8870942"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids43949.2019.9035005"},{"key":"ref25","article-title":"LOGIMATIC autonomous navigation","author":"Rizzo","year":"2019"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1002\/j.2161-4296.2004.tb00359.x"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s10291-014-0425-1"},{"key":"ref28","first-page":"1","article-title":"Galileo and EGNOS as an asset for UTM safety and security","volume-title":"Proc. 25th Ka Broadband Commun. Conf","author":"Jmenez","year":"2019"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"ref30","article-title":"CosySLAM: Tracking contact features using visual-inertial object-level SLAM for locomotion","author":"Debeunne","year":"2021"},{"key":"ref31","first-page":"574","article-title":"CosyPose: Consistent multi-view multi-object 6D pose estimation","volume-title":"Proc. Eur. Conf. Comput. Vis.","author":"Labb","year":"2020"},{"key":"ref32","first-page":"1372","article-title":"Contact forces pre-integration for the whole body estimation of legged robots","volume-title":"Proc. IEEE Int. Conf. Robot. Automat.","author":"Fourmy","year":"2021"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9647862\/09713994.pdf?arnumber=9713994","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,17]],"date-time":"2024-01-17T23:46:50Z","timestamp":1705535210000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9713994\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4]]},"references-count":32,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2022.3151404","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,4]]}}}