{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T16:10:20Z","timestamp":1775751020727,"version":"3.50.1"},"reference-count":45,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2017,2,1]],"date-time":"2017-02-01T00:00:00Z","timestamp":1485907200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"name":"Vinnova Industry Excellence Center LINK-SIC"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Aerosp. Electron. Syst."],"published-print":{"date-parts":[[2017,2]]},"DOI":"10.1109\/taes.2017.2650118","type":"journal-article","created":{"date-parts":[[2017,1,10]],"date-time":"2017-01-10T19:27:23Z","timestamp":1484076443000},"page":"273-285","source":"Crossref","is-referenced-by-count":16,"title":["EM-SLAM With Inertial\/Visual Applications"],"prefix":"10.1109","volume":"53","author":[{"given":"Zoran","family":"Sjanic","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9183-3427","authenticated-orcid":false,"given":"Martin A.","family":"Skoglund","sequence":"additional","affiliation":[]},{"given":"Fredrik","family":"Gustafsson","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1007\/BF03546316","article-title":"Constraint in attitude estimation part II: Unconstrained estimation","volume":"51","author":"shuster","year":"2003","journal-title":"J Astronaut Sci"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072768"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/SSP.2011.5967666"},{"key":"ref32","first-page":"1935","article-title":"Online EM algorithm for joint state and mixture measurement noise estimation","author":"ozkan","year":"0","journal-title":"Proc 15th Int Conf Inf Fusion"},{"key":"ref31","first-page":"3312","article-title":"Using the EM algorithm to estimate the disease parameters for smallpox in 17th century London","author":"duncan","year":"0","journal-title":"Proc 2006 IEEE Comput Aided Control Syst Des \/2006 IEEE Int Conf Control Appl \/2006 IEEE Int Symp Intell Control"},{"key":"ref30","first-page":"599","article-title":"Learning nonlinear dynamical systems using an EM algorithm","author":"ghahramani","year":"1999","journal-title":"Advances in neural information processing systems"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1023\/A:1020245811187"},{"key":"ref36","first-page":"1","article-title":"Simultaneous localisation and mapping in dynamic environments (SLAMIDE) with reversible data association","author":"bibby","year":"0","journal-title":"Proc Robot Sci Syst"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511811685"},{"key":"ref34","author":"rugh","year":"1996","journal-title":"Linear System Theory"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004832"},{"key":"ref40","first-page":"3607","article-title":"g2o: A general framework for graph optimization","author":"k\u00fcmmerle","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509636"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152375"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0055675"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/WVM.1991.212801"},{"key":"ref15","article-title":"A solution to the general problem of multiple station analytical stereo triangulation","author":"brown","year":"1958"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-44480-7"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152678"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.5244\/C.25.16"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980127"},{"key":"ref28","article-title":"An explanation of the expectation maximization algorithm","author":"sch\u00f6n","year":"2009"},{"key":"ref4","first-page":"1559","article-title":"Pose-graph visual slam with geometric model selection for autonomous underwater ship hull inspection","author":"kim","year":"2009","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref27","author":"nocedal","year":"2006","journal-title":"Numerical Optimization"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2010.VI.010"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717145"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.02042"},{"key":"ref8","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1109\/MITS.2010.939925","article-title":"A tutorial on graph-based SLAM","volume":"2","author":"grisetti","year":"2011","journal-title":"IEEE Intell Transp Syst Mag"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065387"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5649205"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914531056"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2160468"},{"key":"ref45","article-title":"VLFeat: An open and portable library of computer vision algorithms","author":"vedaldi","year":"2008"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2170332"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611971484"},{"key":"ref24","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1111\/j.2517-6161.1977.tb01600.x","article-title":"Maximum likelihood from incomplete data via the EM algorithm","volume":"39","author":"dempster","year":"1977","journal-title":"J Royal Statistical Society Series B (Methodological)"},{"key":"ref41","author":"anderson","year":"1979","journal-title":"Optimal Filtering"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696615"},{"key":"ref44","first-page":"1","article-title":"Vision-based unmanned aerial vehicle navigation using geo-referenced information","volume":"3","author":"conte","year":"2009","journal-title":"EURASIP J Adv Signal Process"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.2514\/3.3166"},{"key":"ref43","article-title":"Initialisation and estimation methods for batch optimisation of inertial\/visual SLAM","author":"skoglund","year":"2013"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1006\/cviu.1997.0547"}],"container-title":["IEEE Transactions on Aerospace and Electronic Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7\/7905775\/07812620.pdf?arnumber=7812620","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:27:44Z","timestamp":1642004864000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7812620\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,2]]},"references-count":45,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/taes.2017.2650118","relation":{},"ISSN":["0018-9251"],"issn-type":[{"value":"0018-9251","type":"print"}],"subject":[],"published":{"date-parts":[[2017,2]]}}}