{"id":"https://openalex.org/W4313012127","doi":"https://doi.org/10.1109/iros47612.2022.9982015","title":"BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend","display_name":"BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313012127","doi":"https://doi.org/10.1109/iros47612.2022.9982015"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982015","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091560794","display_name":"Tsang-Kai Chang","orcid":"https://orcid.org/0000-0002-4272-6542"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tsang-Kai Chang","raw_affiliation_strings":["University of California Los Angeles,Electrical and Computer Engineering Department,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California Los Angeles,Electrical and Computer Engineering Department,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084362123","display_name":"Alexandra Pogue","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexandra Pogue","raw_affiliation_strings":["University of California Los Angeles,Mechanical Engineering Department","Mechanical Engineering Department, University of California Los Angeles"],"affiliations":[{"raw_affiliation_string":"University of California Los Angeles,Mechanical Engineering Department","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"Mechanical Engineering Department, University of California Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112712086","display_name":"Ankur Mehta","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankur Mehta","raw_affiliation_strings":["University of California Los Angeles,Electrical and Computer Engineering Department,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California Los Angeles,Electrical and Computer Engineering Department,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091560794"],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25112428,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"6420","last_page":"6427"},"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":0.9952999949455261,"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":0.9937000274658203,"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":0.8208884000778198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.71823650598526},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5867834687232971},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5797673463821411},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5331311225891113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5324593186378479},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.47779589891433716},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4699583053588867},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4685783088207245},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45867854356765747},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3859083652496338},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2100316286087036},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13758966326713562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12410545349121094}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8208884000778198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.71823650598526},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5867834687232971},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5797673463821411},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5331311225891113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5324593186378479},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.47779589891433716},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4699583053588867},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4685783088207245},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45867854356765747},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3859083652496338},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2100316286087036},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13758966326713562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12410545349121094},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982015","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W98163623","https://openalex.org/W297039922","https://openalex.org/W1612997784","https://openalex.org/W1656165940","https://openalex.org/W1968315983","https://openalex.org/W2021851106","https://openalex.org/W2024908906","https://openalex.org/W2045045212","https://openalex.org/W2062313495","https://openalex.org/W2064169939","https://openalex.org/W2077852730","https://openalex.org/W2080823437","https://openalex.org/W2091790851","https://openalex.org/W2094227853","https://openalex.org/W2101345862","https://openalex.org/W2137052305","https://openalex.org/W2153054365","https://openalex.org/W2154459632","https://openalex.org/W2182229738","https://openalex.org/W2197106923","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2565104410","https://openalex.org/W2745859992","https://openalex.org/W2750632489","https://openalex.org/W2803292182","https://openalex.org/W2883702102","https://openalex.org/W2980356813","https://openalex.org/W3040090953","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W3125449081","https://openalex.org/W3129236922","https://openalex.org/W4289145348","https://openalex.org/W4388145345","https://openalex.org/W6632571126"],"related_works":["https://openalex.org/W2068608913","https://openalex.org/W3006513224","https://openalex.org/W1941703695","https://openalex.org/W2046456988","https://openalex.org/W3124914020","https://openalex.org/W3131574667","https://openalex.org/W2357409937","https://openalex.org/W4323768008","https://openalex.org/W2510582230","https://openalex.org/W2141033859"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,71,92],"present":[4],"BOEM-SLAM,":[5],"a":[6,15,48,114],"backend":[7],"for":[8],"visual-inertial":[9],"SLAM":[10,62],"systems":[11],"capable":[12],"of":[13,26,60,68,128],"creating":[14],"globally":[16],"consistent":[17],"trajectory":[18],"and":[19,43,57,82,99,107,141],"map":[20],"without":[21],"retaining":[22],"the":[23,30,53,61,66,83,89,94,101,125,135,146,150],"entire":[24],"history":[25],"data.":[27],"By":[28],"leveraging":[29],"hidden":[31],"Markov":[32],"model":[33],"structure,":[34],"BOEM-SLAM":[35,51,73,112,129],"can":[36],"summarize":[37],"historical":[38],"data":[39,81,140],"into":[40],"sufficient":[41],"statistics":[42],"then":[44],"discard":[45],"it.":[46],"As":[47],"data-efficient":[49],"algorithm,":[50],"addresses":[52],"growing":[54],"computational":[55],"costs":[56],"storage":[58],"requirements":[59],"backend.":[63],"To":[64],"demonstrate":[65],"performance":[67],"our":[69],"algorithm":[70],"compare":[72],"to":[74],"other":[75],"fundamental":[76],"approaches":[77],"on":[78,88],"both":[79],"synthetic":[80],"EuRoC":[84,90,151],"dataset.":[85],"For":[86,123],"evaluation":[87],"dataset,":[91],"use":[93],"open":[95],"source":[96],"okvis":[97],"frontend":[98],"apply":[100],"Lie":[102],"group":[103],"state":[104],"space":[105],"representation":[106],"visual":[108],"outlier":[109],"removal.":[110],"Overall,":[111],"shows":[113],"considerably":[115],"lower":[116],"computation":[117],"time":[118,127],"with":[119],"comparable":[120],"estimation":[121],"performance.":[122],"example,":[124],"processing":[126],"is":[130],"50":[131],"times":[132,143],"smaller":[133,144],"than":[134,145],"optimization-based":[136,147],"method":[137,148],"using":[138],"simulated":[139],"5":[142],"in":[149],"dataset":[152],"experiments.":[153]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
