{"id":"https://openalex.org/W4313051640","doi":"https://doi.org/10.1109/lra.2022.3226068","title":"Picking up Speed: Continuous-Time Lidar-Only Odometry Using Doppler Velocity Measurements","display_name":"Picking up Speed: Continuous-Time Lidar-Only Odometry Using Doppler Velocity Measurements","publication_year":2022,"publication_date":"2022-12-01","ids":{"openalex":"https://openalex.org/W4313051640","doi":"https://doi.org/10.1109/lra.2022.3226068"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3226068","doi":"https://doi.org/10.1109/lra.2022.3226068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3226068","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2209.03304","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069957123","display_name":"Yuchen Wu","orcid":"https://orcid.org/0000-0001-5136-382X","observed_orcids":["https://orcid.org/0000-0001-5136-382X"]},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yuchen Wu","raw_affiliation_strings":["Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-5136-382X","affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027301346","display_name":"David Juny Yoon","orcid":"https://orcid.org/0000-0002-4838-7422","observed_orcids":["https://orcid.org/0000-0002-4838-7422"]},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"David J. Yoon","raw_affiliation_strings":["Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-4838-7422","affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030796058","display_name":"Keenan Burnett","orcid":"https://orcid.org/0000-0001-7496-1144","observed_orcids":["https://orcid.org/0000-0001-7496-1144"]},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Keenan Burnett","raw_affiliation_strings":["Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7496-1144","affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054916364","display_name":"Soeren Kammel","orcid":"https://orcid.org/0000-0002-0779-3096","observed_orcids":["https://orcid.org/0000-0002-0779-3096"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Soeren Kammel","raw_affiliation_strings":["Aeva Inc., Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0779-3096","affiliations":[{"raw_affiliation_string":"Aeva Inc., Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100419257","display_name":"Yi Chen","orcid":"https://orcid.org/0009-0001-3164-519X","observed_orcids":["https://orcid.org/0009-0001-3164-519X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi Chen","raw_affiliation_strings":["Aeva Inc., Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aeva Inc., Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063525282","display_name":"Heethesh Vhavle","orcid":"https://orcid.org/0000-0002-5935-7720","observed_orcids":["https://orcid.org/0000-0002-5935-7720"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heethesh Vhavle","raw_affiliation_strings":["Aeva Inc., Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5935-7720","affiliations":[{"raw_affiliation_string":"Aeva Inc., Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X","observed_orcids":["https://orcid.org/0000-0003-3899-631X"]},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-3899-631X","affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2195,"currency":"USD","value_usd":2195},"apc_paid":null,"fwci":2.0191,"has_fulltext":true,"cited_by_count":41,"citation_normalized_percentile":{"value":0.88504506,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":"8","issue":"1","first_page":"264","last_page":"271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11325","display_name":"Inertial Sensor and Navigation","score":9.999999747378752e-05,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fmcw-lidar","display_name":"FMCW LiDAR","score":0.9070000052452087},{"id":"https://openalex.org/keywords/doppler-velocimetry","display_name":"Doppler velocimetry","score":0.9259999990463257},{"id":"https://openalex.org/keywords/gaussian-process-regression","display_name":"Gaussian process regression","score":0.9169999957084656},{"id":"https://openalex.org/keywords/vehicle-trajectory-estimation","display_name":"vehicle trajectory estimation","score":0.7020000219345093}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.874975323677063},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8623559474945068},{"id":"https://openalex.org/C99568719","wikidata":"https://www.wikidata.org/wiki/Q1129003","display_name":"Continuous wave","level":3,"score":0.7178513407707214},{"id":"https://openalex.org/C142757262","wikidata":"https://www.wikidata.org/wiki/Q76436","display_name":"Doppler effect","level":2,"score":0.713611364364624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5779029726982117},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.536021888256073},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4769398272037506},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4204341173171997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3997926712036133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33181923627853394},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2586497366428375},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.19858315587043762},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17276284098625183},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.13439589738845825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11062341928482056},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1082737147808075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07948827743530273},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3226068","doi":"https://doi.org/10.1109/lra.2022.3226068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3226068","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2209.03304","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2209.03304","pdf_url":"https://arxiv.org/pdf/2209.03304","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2209.03304","doi":"https://doi.org/10.48550/arxiv.2209.03304","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2209.03304","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2209.03304","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2209.03304","pdf_url":"https://arxiv.org/pdf/2209.03304","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313051640.pdf","grobid_xml":"https://content.openalex.org/works/W4313051640.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1539091696","https://openalex.org/W1559010065","https://openalex.org/W1883991860","https://openalex.org/W1982254061","https://openalex.org/W1986434229","https://openalex.org/W1988918158","https://openalex.org/W2001496915","https://openalex.org/W2049981393","https://openalex.org/W2050551672","https://openalex.org/W2096020743","https://openalex.org/W2114084853","https://openalex.org/W2150066425","https://openalex.org/W2158662637","https://openalex.org/W2204930965","https://openalex.org/W2271206385","https://openalex.org/W2277848489","https://openalex.org/W2295255295","https://openalex.org/W2461937780","https://openalex.org/W2745007981","https://openalex.org/W2762897752","https://openalex.org/W2767535997","https://openalex.org/W2783642447","https://openalex.org/W2788154994","https://openalex.org/W2805521962","https://openalex.org/W2890354344","https://openalex.org/W2891275937","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2960305679","https://openalex.org/W2963388635","https://openalex.org/W2964162504","https://openalex.org/W2977461652","https://openalex.org/W2997145753","https://openalex.org/W2998553944","https://openalex.org/W3002270926","https://openalex.org/W3003991701","https://openalex.org/W3089503906","https://openalex.org/W3154376645","https://openalex.org/W3203066970","https://openalex.org/W3206776160","https://openalex.org/W3207826836","https://openalex.org/W4225363100","https://openalex.org/W4226214062","https://openalex.org/W4286543002","https://openalex.org/W4327692895"],"related_works":["https://openalex.org/W4389666170","https://openalex.org/W4396604988","https://openalex.org/W4412605582","https://openalex.org/W7128789791","https://openalex.org/W4415909575","https://openalex.org/W4390691142","https://openalex.org/W4404914871","https://openalex.org/W2913077295","https://openalex.org/W4406233946","https://openalex.org/W2938685850"],"abstract_inverted_index":{"Frequency-Modulated":[0],"Continuous-Wave":[1],"(FMCW)":[2],"lidar":[3,41,79],"is":[4],"a":[5],"recently":[6],"emerging":[7],"technology":[8],"that":[9,55,107],"additionally":[10,127],"enables":[11],"per-return":[12],"instantaneous":[13],"relative":[14],"radial":[15],"velocity":[16,36,111,139],"measurements":[17,37,140],"via":[18],"the":[19,27,58,72,103],"Doppler":[20,35,110,138],"effect.":[21],"In":[22],"this":[23,120],"letter,":[24],"we":[25,98,114],"present":[26],"first":[28],"continuous-time":[29,53],"lidar-only":[30,132],"odometry":[31,44,133],"algorithm":[32,87,101],"using":[33,61,137],"these":[34],"from":[38],"an":[39,51],"FMCW":[40],"to":[42,65,71],"aid":[43],"in":[45,141],"geometrically":[46],"degenerate":[47],"environments.":[48],"We":[49,83,126],"apply":[50],"existing":[52,105],"framework":[54],"efficiently":[56],"estimates":[57],"vehicle":[59],"trajectory":[60],"Gaussian":[62],"process":[63],"regression":[64],"compensate":[66],"for":[67],"motion":[68],"distortion":[69],"due":[70],"scanning-while-moving":[73],"nature":[74],"of":[75,131],"any":[76],"mechanically":[77],"actuated":[78],"(FMCW":[80],"and":[81,96,113,135],"non-FMCW).":[82],"evaluate":[84],"our":[85],"proposed":[86],"on":[88],"several":[89],"real-world":[90],"datasets,":[91],"including":[92,119],"publicly":[93],"available":[94],"ones":[95],"datasets":[97],"collected.":[99],"Our":[100],"outperforms":[102],"only":[104],"method":[106],"also":[108],"uses":[109],"measurements,":[112],"study":[115],"difficult":[116],"conditions":[117],"where":[118],"extra":[121],"information":[122],"greatly":[123],"improves":[124],"performance.":[125],"demonstrate":[128],"state-of-the-art":[129],"performance":[130],"with":[134],"without":[136],"nominal":[142],"conditions.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2023-01-06T00:00:00"}