{"id":"https://openalex.org/W2963393042","doi":"https://doi.org/10.1109/iros40897.2019.8967617","title":"On Data Sharing Strategy for Decentralized Collaborative Visual-Inertial Simultaneous Localization And Mapping","display_name":"On Data Sharing Strategy for Decentralized Collaborative Visual-Inertial Simultaneous Localization And Mapping","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2963393042","doi":"https://doi.org/10.1109/iros40897.2019.8967617","mag":"2963393042"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967617","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02190833","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043320881","display_name":"Rodolphe Dubois","orcid":"https://orcid.org/0000-0002-2404-8039"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rodolphe Dubois","raw_affiliation_strings":["Universit&#x00E9; Paris Saclay,DTIS, ONERA,Palaiseau,France,F-91123","LS2N - \u00e9quipe ARMEN - Autonomie des Robots et Ma\u00eetrise des interactions avec l\u2019ENvironnement (France)","LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)","DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris Saclay,DTIS, ONERA,Palaiseau,France,F-91123","institution_ids":["https://openalex.org/I2801658355"]},{"raw_affiliation_string":"LS2N - \u00e9quipe ARMEN - Autonomie des Robots et Ma\u00eetrise des interactions avec l\u2019ENvironnement (France)","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005"]},{"raw_affiliation_string":"LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)","institution_ids":["https://openalex.org/I4210117005","https://openalex.org/I97188460"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028716990","display_name":"Alexandre Eudes","orcid":"https://orcid.org/0000-0002-3370-5950"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexandre Eudes","raw_affiliation_strings":["Universit&#x00E9; Paris Saclay,DTIS, ONERA,Palaiseau,France,F-91123","DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris Saclay,DTIS, ONERA,Palaiseau,France,F-91123","institution_ids":["https://openalex.org/I2801658355"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014078329","display_name":"Vincent Fr\u00e9mont","orcid":"https://orcid.org/0000-0002-1627-2241"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Fr\u00e9mont","raw_affiliation_strings":["Universit&#x00E9; Paris Saclay,DTIS, ONERA,Palaiseau,France,F-91123","LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)","ECN - \u00c9cole Centrale de Nantes (1 rue de la No\u00eb - BP 92101 - 44321 Nantes cedex 3 - France)","LS2N - \u00e9quipe ARMEN - Autonomie des Robots et Ma\u00eetrise des interactions avec l\u2019ENvironnement (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris Saclay,DTIS, ONERA,Palaiseau,France,F-91123","institution_ids":["https://openalex.org/I2801658355"]},{"raw_affiliation_string":"LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)","institution_ids":["https://openalex.org/I4210117005","https://openalex.org/I97188460"]},{"raw_affiliation_string":"ECN - \u00c9cole Centrale de Nantes (1 rue de la No\u00eb - BP 92101 - 44321 Nantes cedex 3 - France)","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"raw_affiliation_string":"LS2N - \u00e9quipe ARMEN - Autonomie des Robots et Ma\u00eetrise des interactions avec l\u2019ENvironnement (France)","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.5943,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98015676,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2123","last_page":"2130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7365977168083191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7280396223068237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6851891875267029},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6284788846969604},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6196414232254028},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.5797854661941528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5233711004257202},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4796886146068573},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1980273425579071},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.16105034947395325}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7365977168083191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7280396223068237},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6851891875267029},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6284788846969604},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6196414232254028},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.5797854661941528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5233711004257202},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4796886146068573},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1980273425579071},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.16105034947395325},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8967617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967617","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02190833v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02190833","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Nov 2019, Macao, China. &#x27E8;10.1109/iros40897.2019.8967617&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02190833v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02190833","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Nov 2019, Macao, China. &#x27E8;10.1109/iros40897.2019.8967617&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W900890939","https://openalex.org/W1603426217","https://openalex.org/W2024318675","https://openalex.org/W2037971631","https://openalex.org/W2040134986","https://openalex.org/W2054442768","https://openalex.org/W2199085611","https://openalex.org/W2214788824","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2565233142","https://openalex.org/W2745859992","https://openalex.org/W2770176163","https://openalex.org/W2784356618","https://openalex.org/W2803770871","https://openalex.org/W2902093375","https://openalex.org/W2909157769","https://openalex.org/W3105489439","https://openalex.org/W3124420883"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2742744817","https://openalex.org/W2991246638","https://openalex.org/W2382856674"],"abstract_inverted_index":{"This":[0],"article":[1],"introduces":[2],"and":[3,15,24,37,60,67,78,91,104],"evaluates":[4],"two":[5],"decentralized":[6],"data":[7,39],"sharing":[8],"algorithms":[9],"for":[10,20,27],"multi-robot":[11,97],"visual-inertial":[12],"simultaneous":[13],"localization":[14],"mapping":[16],"(VI-SLAM):":[17],"Factor":[18],"Sparsification":[19],"Visual-Inertial":[21,28],"Packets":[22,29],"(FS-VIP)":[23],"Min-K-Cover":[25],"Selection":[26],"(MKCS-VIP).":[30],"Both":[31],"methods":[32],"make":[33],"robots":[34],"regularly":[35],"build":[36],"exchange":[38],"packets":[40],"which":[41,70],"describe":[42],"the":[43,83],"successive":[44],"portions":[45],"of":[46,89],"their":[47],"map,":[48],"but":[49],"rely":[50],"on":[51,57,96,100],"distinct":[52],"paradigms.":[53],"While":[54],"FS-VIP":[55],"builds":[56],"consistent":[58,79],"marginalization":[59],"sparsification":[61],"techniques,":[62],"MKCSVIP":[63],"selects":[64],"raw":[65],"visual":[66],"inertial":[68],"information":[69],"can":[71],"best":[72],"help":[73],"to":[74],"perform":[75],"a":[76],"faithful":[77],"re-estimation":[80],"while":[81],"reducing":[82],"communication":[84,92],"cost.":[85],"Performances":[86],"in":[87],"terms":[88],"accuracy":[90],"loads":[93],"are":[94],"evaluated":[95],"scenarios":[98],"built":[99],"both":[101],"available":[102],"(EUROC)":[103],"custom":[105],"datasets":[106],"(SOTTEVILLE).":[107]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}
