{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T15:43:00Z","timestamp":1781278980658,"version":"3.54.1"},"reference-count":71,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2020,6,1]],"date-time":"2020-06-01T00:00:00Z","timestamp":1590969600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,6,1]],"date-time":"2020-06-01T00:00:00Z","timestamp":1590969600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,6,1]],"date-time":"2020-06-01T00:00:00Z","timestamp":1590969600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,6,1]],"date-time":"2020-06-01T00:00:00Z","timestamp":1590969600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["#1816138"],"award-info":[{"award-number":["#1816138"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2020,6]]},"DOI":"10.1109\/tro.2020.2964138","type":"journal-article","created":{"date-parts":[[2020,1,21]],"date-time":"2020-01-21T21:35:06Z","timestamp":1579642506000},"page":"657-675","source":"Crossref","is-referenced-by-count":66,"title":["Good Feature Matching: Toward Accurate, Robust VO\/VSLAM With Low Latency"],"prefix":"10.1109","volume":"36","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6757-5349","authenticated-orcid":false,"given":"Yipu","family":"Zhao","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6888-7002","authenticated-orcid":false,"given":"Patricio A.","family":"Vela","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794046"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.5772\/7237"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.895070"},{"key":"ref33","first-page":"593","article-title":"Good features to track","author":"shi","year":"0","journal-title":"Proc IEEE Conf Comput Vision Pattern Recognit"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7298743"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139925"},{"key":"ref30","first-page":"1","article-title":"Stereo odometry based on careful feature selection and tracking","author":"cvi\u0161i?","year":"0","journal-title":"Proc Eur Conf Mobile Robots"},{"key":"ref37","first-page":"1175","article-title":"Entropy based feature selection scheme for real time simultaneous localization and map building","author":"zhang","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.06.008"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-012-0440-6"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.861480"},{"key":"ref60","author":"horn","year":"1990","journal-title":"Matrix Analysis"},{"key":"ref62","article-title":"Evaluating egomotion and structure-from-motion approaches using the TUM RGB-D benchmark","author":"sturm","year":"0","journal-title":"Proc Workshop Color-Depth Camera Fusion Robot IEEE\/RJS Int Conf Intell Robot Syst"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593419"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2005.130"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913491297"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/70.976019"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140009"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460558"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20345"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2018.2856739"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.421"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793349"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460664"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2007.1049"},{"key":"ref20","first-page":"1","article-title":"Camera pose estimation from lines using Pl&#x00FC;cker coordinates","author":"p?ibyl","year":"0","journal-title":"Proc Brit Mach Vision Conf"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01216-8_32"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2899783"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01237-3_42"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2846813"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593641"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1137\/12086755X"},{"key":"ref51","first-page":"1812","article-title":"Lazier than lazy greedy","author":"mirzasoleiman","year":"0","journal-title":"Proc AAAI Conf Artif Intell"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0006528"},{"key":"ref58","volume":"3","author":"golub","year":"2012","journal-title":"Matrix Computations"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-011-0492-5"},{"key":"ref56","article-title":"FutureMapping: The computational structure of spatial AI systems","author":"davison","year":"2018"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5539788"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-88682-2_7"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2005.29"},{"key":"ref52","first-page":"1424","article-title":"Robust guarantees of stochastic greedy algorithms","author":"hassidim","year":"0","journal-title":"Proc Int Conf Mach Learn"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794472"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.028"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2872402"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758089"},{"key":"ref13","first-page":"16-1","article-title":"Real-time visualinertial odometry for event cameras using keyframe-based nonlinear optimization","author":"rebecq","year":"0","journal-title":"Proc Brit Mach Vision Conf"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.616"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15561-1_56"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126542"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref18","first-page":"510","article-title":"FREAK: Fast retina keypoint","author":"vandergheynst","year":"0","journal-title":"Proc IEEE Conf Comput Vision Pattern Recognit"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref4","first-page":"834","article-title":"LSD-SLAM: Large-scale direct monocular SLAM","author":"engel","year":"0","journal-title":"Proc Eur Conf Comput Vision"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463671"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2658577"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623335"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916669237"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2011.6092378"},{"key":"ref49","first-page":"3475","article-title":"Fast approximation of matrix coherence and statistical leverage","volume":"13","author":"drineas","year":"2012","journal-title":"J Mach Learn Res"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/FPT.2017.8280159"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.08.022"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717225"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1137\/07070471X"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2015.2453711"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917691110"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2017.00029"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611973068.105"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1137\/0917055"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/9109403\/8964284-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/9109403\/08964284.pdf?arnumber=8964284","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T16:48:17Z","timestamp":1651078097000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8964284\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,6]]},"references-count":71,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/tro.2020.2964138","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,6]]}}}