{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,3]],"date-time":"2026-11-03T16:50:46Z","timestamp":1793724646914,"version":"4.6.1"},"reference-count":78,"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:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Research Grants Council General Research Fund","award":["RMGS20EG20"],"award-info":[{"award-number":["RMGS20EG20"]}]},{"name":"HKUST-DJI Joint Innovation Laboratory"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/tro.2024.3422003","type":"journal-article","created":{"date-parts":[[2024,7,2]],"date-time":"2024-07-02T15:55:35Z","timestamp":1719935735000},"page":"3445-3464","source":"Crossref","is-referenced-by-count":79,"title":["$D^{2}$SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm"],"prefix":"10.1109","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5277-9330","authenticated-orcid":false,"given":"Hao","family":"Xu","sequence":"first","affiliation":[{"name":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-3991-9252","authenticated-orcid":false,"given":"Peize","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3321-2483","authenticated-orcid":false,"given":"Xinyi","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5573-2909","authenticated-orcid":false,"given":"Shaojie","family":"Shen","sequence":"additional","affiliation":[{"name":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3182503"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3137751"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2967681"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917732640"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abm5954"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3236945"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461014"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2778018"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561902"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3006823"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196944"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2014.2304432"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.13"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.194"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1137\/15M1024950"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918784361"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2718661"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1561\/2300000043"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463671"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2953859"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5652875"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631323"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40686-7_3"},{"key":"ref25","volume-title":"Parallel and Distributed Computation: Numerical Methods","author":"Bertsekas","year":"1989"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3010216"},{"key":"ref27","article-title":"An introduction to optimization on smooth manifolds","author":"Boumal","year":"2020"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3072346"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196885"},{"key":"ref30","first-page":"298","article-title":"Bundle adjustmentA modern synthesis","volume-title":"Proc. Int. workshop Vis. Algorithms","author":"Triggs","year":"1999"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560944"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636031"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561674"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561203"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2019.2905570"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062347"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3057838"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196793"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793604"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460780"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2660063"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593941"},{"key":"ref43","first-page":"1701","article-title":"Asynchronous distributed ADMM for consensus optimization","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Zhang","year":"2014"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.5860\/choice.46-5076"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206587"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196695"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW53098.2021.00405"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01300"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2018.00060"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1023\/b:visi.0000029664.99615.94"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TBDATA.2019.2921572"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10590-1_9"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906582"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2003276"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-4380-9_35"},{"key":"ref57","article-title":"A tutorial on SE(3) transformation parameterizations and on-manifold optimization","author":"Blanco-Claraco","year":"2021"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.2514\/1.28949"},{"key":"ref59","article-title":"BDPGO: Balanced distributed pose graph optimization framework for swarm robotics","author":"Xu","year":"2021"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.037"},{"key":"ref61","article-title":"Ceres solver","author":"Agarwal"},{"key":"ref62","article-title":"Methods for non-linear least squares problems (2nd ed.)","author":"Madsen","year":"2004"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2010.939925"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139836"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-012-0601-0"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2007.383115"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1007\/b98874"},{"key":"ref68","article-title":"Quaternion kinematics for the error-state Kalman filter","author":"Sola","year":"2017"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0067700"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460217"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965893"},{"key":"ref72","article-title":"Eigen v3","author":"Guennebaud","year":"2010"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593419"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140074"},{"key":"ref75","article-title":"ONNX runtime","year":"2021"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1145\/3355089.3356506"},{"key":"ref77","first-page":"189","article-title":"OctoMap: A probabilistic, flexible, and compact 3D map representation for robotic systems","volume-title":"Proc. IEEE Int. Conf. Robot. Automat.","author":"Wurm","year":"2010"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202315"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10365208\/10582478.pdf?arnumber=10582478","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,21]],"date-time":"2024-07-21T00:18:43Z","timestamp":1721521123000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10582478\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":78,"URL":"https:\/\/doi.org\/10.1109\/tro.2024.3422003","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}