{"id":"https://openalex.org/W4317383359","doi":"https://doi.org/10.1109/robio55434.2022.10011701","title":"Mid360-based Lidar and IMU Tightly-coupled Odometry and Mapping","display_name":"Mid360-based Lidar and IMU Tightly-coupled Odometry and Mapping","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383359","doi":"https://doi.org/10.1109/robio55434.2022.10011701"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011701","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5058950895","display_name":"Shengyao Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyao Zeng","raw_affiliation_strings":["Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang,China,110169"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang,China,110169","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050079548","display_name":"Zhiqiang Zhang","orcid":"https://orcid.org/0000-0003-0204-3867"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Zhang","raw_affiliation_strings":["Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang,China,110169"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang,China,110169","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100434069","display_name":"Lei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["Shenyang SIASUN Robotic Automation Co., Ltd,Shenyang,China,110169"],"affiliations":[{"raw_affiliation_string":"Shenyang SIASUN Robotic Automation Co., Ltd,Shenyang,China,110169","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100332468","display_name":"Hongyan Liu","orcid":"https://orcid.org/0000-0002-5802-0122"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyan Liu","raw_affiliation_strings":["Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang,China,110169"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang,China,110169","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113662207","display_name":"Zhenjun Du","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenjun Du","raw_affiliation_strings":["Shenyang SIASUN Robotic Automation Co., Ltd,Shenyang,China,110169"],"affiliations":[{"raw_affiliation_string":"Shenyang SIASUN Robotic Automation Co., Ltd,Shenyang,China,110169","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017613188","display_name":"Mingmin Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingmin Liu","raw_affiliation_strings":["Shenyang SIASUN Robotic Automation Co., Ltd,Shenyang,China,110169"],"affiliations":[{"raw_affiliation_string":"Shenyang SIASUN Robotic Automation Co., Ltd,Shenyang,China,110169","institution_ids":["https://openalex.org/I142078773"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.527,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.475732,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":61,"max":71},"biblio":{"volume":null,"issue":null,"first_page":"1023","last_page":"1028"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Simultaneous Localization and Mapping","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":"Simultaneous Localization and Mapping","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/T11164","display_name":"Mapping Forests with Lidar Remote Sensing","score":0.9986,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Sampling-Based Motion Planning Algorithms","score":0.9975,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8330976},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual Odometry","score":0.575741},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.5719985},{"id":"https://openalex.org/keywords/lidar-remote-sensing","display_name":"Lidar Remote Sensing","score":0.541222},{"id":"https://openalex.org/keywords/3d-mapping","display_name":"3D Mapping","score":0.500096}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.89732075},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8330976},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.82136565},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.74183714},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7021993},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6668162},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.65391314},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.5719985},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.47205597},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45735613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4416996},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20157415},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19831195},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14704847},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07426041},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011701","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.51}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":18,"referenced_works":["https://openalex.org/W1981699551","https://openalex.org/W2119851068","https://openalex.org/W2131439959","https://openalex.org/W2296228853","https://openalex.org/W2805521962","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W3007240855","https://openalex.org/W3089503906","https://openalex.org/W3095662029","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3180067564","https://openalex.org/W3182569554","https://openalex.org/W3207892421","https://openalex.org/W4210423514","https://openalex.org/W4235930449"],"related_works":["https://openalex.org/W4391249506","https://openalex.org/W4386821976","https://openalex.org/W4312092966","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2998370018","https://openalex.org/W2970345194","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W2161240633"],"abstract_inverted_index":{"Based":[0],"on":[1,41],"the":[2,6,27,63,74,78],"experimental":[3],"equipment":[4],"of":[5,33],"latest":[7],"solid-state":[8,34],"lidar":[9,19],"Livox-Mid360,":[10],"this":[11,91],"paper":[12,92],"explores":[13],"tightly":[14],"coupled":[15],"SLAM":[16],"method":[17,39,88],"for":[18],"and":[20,56,95,108],"inertial":[21],"measurement":[22],"unit":[23],"(IMU).":[24],"Aiming":[25],"at":[26],"non-uniform":[28],"sampling":[29],"point":[30,47],"cloud":[31,48],"characteristics":[32],"lidar,":[35],"we":[36],"use":[37],"a":[38],"based":[40,52],"single-line":[42],"depth":[43],"variation":[44],"to":[45,62,72],"extract":[46],"features.":[49],"Sliding":[50],"windows":[51],"local":[53],"map":[54],"construction":[55],"submap-to-submap":[57],"constraints":[58],"can":[59,103],"effectively":[60],"adapt":[61],"complex":[64],"environment.":[65],"The":[66,87],"ground":[67,84],"constraint":[68],"module":[69],"is":[70,80,93],"added":[71],"reduce":[73],"trajectory":[75,106],"error":[76],"when":[77,113],"system":[79],"deployed":[81],"in":[82,90,97],"unmanned":[83],"vehicle":[85],"(UGV).":[86],"proposed":[89],"feasible":[94],"effective":[96],"our":[98],"different":[99],"environment":[100],"experiments.":[101],"It":[102],"obtain":[104],"higher":[105],"accuracy":[107],"does":[109],"not":[110],"lose":[111],"positioning":[112],"shaking":[114],"quickly.":[115]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4317383359","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2024-12-02T16:05:57.601389","created_date":"2023-01-19"}