{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,6]],"date-time":"2026-10-06T16:26:07Z","timestamp":1791303967304,"version":"4.1.0"},"reference-count":57,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"Challengeable Future Defense Technology Research and Development","award":["912768601"],"award-info":[{"award-number":["912768601"]}]},{"DOI":"10.13039\/501100005073","name":"Agency for Defense Development","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100005073","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/tro.2023.3328202","type":"journal-article","created":{"date-parts":[[2023,10,30]],"date-time":"2023-10-30T15:44:39Z","timestamp":1698680679000},"page":"193-212","source":"Crossref","is-referenced-by-count":27,"title":["Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information"],"prefix":"10.1109","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8062-8433","authenticated-orcid":false,"given":"Ziwon","family":"Yoon","sequence":"first","affiliation":[{"name":"Humanoid Research Center, School of Mechanical, Aerospace &amp; Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4928-9696","authenticated-orcid":false,"given":"Joon-Ha","family":"Kim","sequence":"additional","affiliation":[{"name":"Humanoid Research Center, School of Mechanical, Aerospace &amp; Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6130-6589","authenticated-orcid":false,"given":"Hae-Won","family":"Park","sequence":"additional","affiliation":[{"name":"Humanoid Research Center, School of Mechanical, Aerospace &amp; Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.003"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341447"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811755"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1145\/504729.504754"},{"key":"ref5","article-title":"Factor graphs and GTSAM: A hands-on introduction","author":"Dellaert","year":"2012"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1017\/9781316671528"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1561\/2300000043"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072768"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911430419"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593801"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460748"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095161"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462905"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2933768"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197214"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3093876"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3150844"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041346"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942674"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915587333"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00068"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561313"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2010.vi.010"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463671"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3193788"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697236"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2931284"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2594085"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105010"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919894385"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594068"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814702"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v35i7.16758"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793865"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759570"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2652491"},{"key":"ref39","first-page":"1057","article-title":"Legged robot state estimation using invariant Kalman filtering and learned contact events","volume-title":"Proc. 5th Annu. Conf. Robot Learn.","author":"Lin","year":"2021"},{"key":"ref40","article-title":"Estimation and planning for dynamic robot behaviors","author":"Varin","year":"2021"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids53995.2022.10000099"},{"key":"ref42","first-page":"1575","article-title":"Learning inertial odometry for dynamic legged robot state estimation","volume-title":"Proc. 5th Annu. Conf. Robot Learn.","author":"Buchanan","year":"2021"},{"key":"ref43","article-title":"Stochastic models, information theory, and lie groups","volume":"1","author":"Chirikjian","year":"2009","journal-title":"Classical Results and Geometric Methods"},{"key":"ref44","article-title":"Stochastic models, information theory, and Lie groups","volume":"2","author":"Chirikjian","year":"2011","journal-title":"Analytic Methods and Modern Appl."},{"key":"ref45","article-title":"Lie groups for 2D and 3D transformations","author":"Eade","year":"2013"},{"key":"ref46","article-title":"A micro Lie theory for state estimation in robotics","author":"Sola","year":"2018"},{"key":"ref47","first-page":"467","article-title":"A stochastic map for uncertain spatial relationships","volume-title":"Proc. 4th Int. Symp. Robot. Res.","author":"Smith","year":"1988"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/70.795798"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/70.938381"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1090\/fic\/003\/09"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/s10208-005-0179-9"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.2140\/pjm.1966.16.1"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2015.2477880"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2980446"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.037"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593941"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.808470"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10365208\/10301546.pdf?arnumber=10301546","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,26]],"date-time":"2024-11-26T19:25:43Z","timestamp":1732649143000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10301546\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":57,"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3328202","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}