{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,20]],"date-time":"2026-04-20T10:32:07Z","timestamp":1776681127692,"version":"3.51.2"},"reference-count":50,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"National Key Research and Development Program of China","award":["2020YFB1313300"],"award-info":[{"award-number":["2020YFB1313300"]}]},{"DOI":"10.13039\/501100004731","name":"Natural Science Foundation of Zhejiang Province","doi-asserted-by":"publisher","award":["LGG21F030012"],"award-info":[{"award-number":["LGG21F030012"]}],"id":[{"id":"10.13039\/501100004731","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,8]]},"DOI":"10.1109\/tro.2023.3272847","type":"journal-article","created":{"date-parts":[[2023,5,19]],"date-time":"2023-05-19T17:51:42Z","timestamp":1684518702000},"page":"2892-2911","source":"Crossref","is-referenced-by-count":18,"title":["Toward Consistent and Efficient Map-Based Visual-Inertial Localization: Theory Framework and Filter Design"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7625-0119","authenticated-orcid":false,"given":"Zhuqing","family":"Zhang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5915-9230","authenticated-orcid":false,"given":"Yang","family":"Song","sequence":"additional","affiliation":[{"name":"Robotics Institute, Faculty of Engineering and Information Technology, University of Technology Sydney, Ultimo, NSW, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6124-4178","authenticated-orcid":false,"given":"Shoudong","family":"Huang","sequence":"additional","affiliation":[{"name":"Robotics Institute, Faculty of Engineering and Information Technology, University of Technology Sydney, Ultimo, NSW, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9318-9014","authenticated-orcid":false,"given":"Rong","family":"Xiong","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0981-935X","authenticated-orcid":false,"given":"Yue","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.903811"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989741"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696917"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793836"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800113"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197029"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-75404-6_24"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543252"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.3390\/s21124042"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"ref50","article-title":"Supplementary material of toward consistent and efficient map-based visual-inertial localization: Theory framework and filter design","author":"zhang","year":"2023"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-71278-5_29"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919843996"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.2984970"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2942760"},{"key":"ref42","article-title":"R2D2: Repeatable and reliable detector and descriptor","author":"revaud","year":"2019"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593941"},{"key":"ref44","first-page":"1","article-title":"EuRoC - The challenge initiative for European robotics","author":"siciliano","year":"0","journal-title":"Proc 41st Int Symp Robot"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967671"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2996795"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623335"},{"key":"ref9","article-title":"A general optimization-based framework for global pose estimation with multiple sensors","author":"qin","year":"2020"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593627"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793349"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917728574"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-008-0152-6"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1017\/9781316671528"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593603"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.23919\/ICIF.2018.8455807"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919894385"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909353640"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-00065-7_22"},{"key":"ref33","article-title":"A general optimization-based framework for global pose estimation with multiple sensors","author":"qin","year":"0"},{"key":"ref32","article-title":"Observability-constrained vision-aided inertial navigation","author":"hesch","year":"2012"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196524"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364024"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.445"},{"key":"ref38","article-title":"Non-linear state error based extended Kalman filters with applications to navigation","author":"barrau","year":"2015"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281644"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2882714"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2808330"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2277549"},{"key":"ref20","article-title":"An EKF-SLAM algorithm with consistency properties","author":"barrau","year":"2015"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2594085"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-2343-9_1"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.933280"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8205965"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341697"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10214173\/10129794.pdf?arnumber=10129794","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,8,28]],"date-time":"2023-08-28T18:14:56Z","timestamp":1693246496000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10129794\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8]]},"references-count":50,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3272847","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8]]}}}