{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T16:20:16Z","timestamp":1778602816522,"version":"3.51.4"},"reference-count":75,"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":"AFR-Aachen Research Association for Control Engineering e.V."}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/tro.2024.3443699","type":"journal-article","created":{"date-parts":[[2024,8,15]],"date-time":"2024-08-15T17:53:28Z","timestamp":1723744408000},"page":"4003-4023","source":"Crossref","is-referenced-by-count":30,"title":["GNSS\/Multisensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization"],"prefix":"10.1109","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0395-6724","authenticated-orcid":false,"given":"Haoming","family":"Zhang","sequence":"first","affiliation":[{"name":"Institute of Automatic Control, Faculty of Mechanical Engineering, RWTH Aachen University, Aachen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-2760-3390","authenticated-orcid":false,"given":"Chih-Chun","family":"Chen","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control, Faculty of Mechanical Engineering, RWTH Aachen University, Aachen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0305-398X","authenticated-orcid":false,"given":"Heike","family":"Vallery","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control, Faculty of Mechanical Engineering, RWTH Aachen University, Aachen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3899-631X","authenticated-orcid":false,"given":"Timothy D.","family":"Barfoot","sequence":"additional","affiliation":[{"name":"University of Toronto Robotics Institute, Toronto, ON, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2017.2766768"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341176"},{"key":"ref3","volume-title":"Map-Based Precision Vehicle Localization in Urban Environments","author":"Burgard","year":"2008"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2017.2749181"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-021-00395-2"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1002\/navi.421"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3189824"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-061520-010504"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419841532"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3133730"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.33012\/2021.18089"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.33012\/navi.590"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s10291-017-0667-9"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3192885"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919843996"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2891492"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-016-9548-2"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/SSD.2012.6198059"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.33012\/2017.15164"},{"key":"ref21","volume-title":"Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems","author":"Groves","year":"2013"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.33012\/2019.17129"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2019.2944680"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9562037"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2022.3149730"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3182795"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.55417\/fr.2022057"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2016.7733598"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.33012\/2022.18377"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2019.8813847"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2021.3130909"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2020.3039640"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3190093"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3056380"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968012"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812386"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9635862"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341697"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981134"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3177847"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225005"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3173705"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.001"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9770-1"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.10.004"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989447"},{"key":"ref47","article-title":"Continuous-time trajectory estimation: A comparative study between Gaussian process and spline-based approaches","author":"Johnson","year":"2024"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094602"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21831"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340958"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.801886"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341611"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3151404"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2883408"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1561\/2300000043"},{"key":"ref56","volume-title":"GNSS Data Processing (ESA TM)","author":"Subirana","year":"2013"},{"key":"ref57","first-page":"207","article-title":"Geschlossene Formeln zur Berechnung rauemlicher geodaetischer Koordinaten aus rechtwinklingen Koordinaten","volume":"107","author":"Heikkinen","year":"1982","journal-title":"Zeitschrift fuer Vermessungswessen"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/7.303772"},{"key":"ref59","article-title":"United States Department of Defense, World Geodetic System 1984: Its definition and relationships with local geodetic systems","year":"2000"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1017\/9781009299909"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353368"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969153"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2298059"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461077"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-42928-1"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594299"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282313"},{"key":"ref69","article-title":"Batch continuous-time trajectory estimation","author":"Anderson","year":"2017"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1002\/SERIES1345"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399318"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979641"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3193788"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341596"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3007381"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10365208\/10637732.pdf?arnumber=10637732","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,11]],"date-time":"2024-09-11T18:59:37Z","timestamp":1726081177000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10637732\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":75,"URL":"https:\/\/doi.org\/10.1109\/tro.2024.3443699","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}