{"id":"https://openalex.org/W3215582602","doi":"https://doi.org/10.1007/s11370-021-00395-2","title":"What if there was no revisit? Large-scale graph-based SLAM with traffic sign detection in an HD map using LiDAR inertial odometry","display_name":"What if there was no revisit? Large-scale graph-based SLAM with traffic sign detection in an HD map using LiDAR inertial odometry","publication_year":2021,"publication_date":"2021-11-25","ids":{"openalex":"https://openalex.org/W3215582602","doi":"https://doi.org/10.1007/s11370-021-00395-2","mag":"3215582602"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-021-00395-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-021-00395-2","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-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/A5021044069","display_name":"Changki Sung","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Changki Sung","raw_affiliation_strings":["Robotics Program, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Program, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066122868","display_name":"Seulgi Jeon","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seulgi Jeon","raw_affiliation_strings":["School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077817769","display_name":"Hyungtae Lim","orcid":"https://orcid.org/0000-0002-7185-4666"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungtae Lim","raw_affiliation_strings":["School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["Robotics Program, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea","School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5799-2026","affiliations":[{"raw_affiliation_string":"Robotics Program, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021044069"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":21.8969,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.98948093,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"15","issue":"2","first_page":"161","last_page":"170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9926999807357788,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9912999868392944,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.904653787612915},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7993922233581543},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.783574104309082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7761884927749634},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.774711549282074},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7475438117980957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6339566111564636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.599143922328949},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.5546919107437134},{"id":"https://openalex.org/keywords/scale-factor","display_name":"Scale factor (cosmology)","score":0.4556856155395508},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4506509602069855},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.32293060421943665},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.31823331117630005},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.30347758531570435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2963813245296478},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22735172510147095},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13223835825920105},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13196495175361633}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.904653787612915},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7993922233581543},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.783574104309082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7761884927749634},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.774711549282074},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7475438117980957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6339566111564636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.599143922328949},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.5546919107437134},{"id":"https://openalex.org/C144386022","wikidata":"https://www.wikidata.org/wiki/Q1332997","display_name":"Scale factor (cosmology)","level":5,"score":0.4556856155395508},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4506509602069855},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32293060421943665},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.31823331117630005},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.30347758531570435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2963813245296478},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22735172510147095},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13223835825920105},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13196495175361633},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"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/C172790937","wikidata":"https://www.wikidata.org/wiki/Q18343","display_name":"Dark energy","level":3,"score":0.0},{"id":"https://openalex.org/C20154449","wikidata":"https://www.wikidata.org/wiki/Q1129469","display_name":"Metric expansion of space","level":4,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s11370-021-00395-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-021-00395-2","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5616839151","display_name":null,"funder_award_id":"2019-0-00399","funder_id":"https://openalex.org/F4320322030","funder_display_name":"Ministry of Science, ICT and Future Planning"}],"funders":[{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"},{"id":"https://openalex.org/F4320322010","display_name":"Ministry of Land, Infrastructure and Transport","ror":"https://ror.org/04xt5aa77"},{"id":"https://openalex.org/F4320322030","display_name":"Ministry of Science, ICT and Future Planning","ror":"https://ror.org/032e49973"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1968315983","https://openalex.org/W2040744293","https://openalex.org/W2049981393","https://openalex.org/W2115579991","https://openalex.org/W2137052305","https://openalex.org/W2140924050","https://openalex.org/W2149433310","https://openalex.org/W2153054365","https://openalex.org/W2196111060","https://openalex.org/W2277848489","https://openalex.org/W2482726005","https://openalex.org/W2592770378","https://openalex.org/W2601822523","https://openalex.org/W2745859992","https://openalex.org/W2903637353","https://openalex.org/W2909908358","https://openalex.org/W2914548570","https://openalex.org/W2938818630","https://openalex.org/W2955418607","https://openalex.org/W2962786971","https://openalex.org/W2965891035","https://openalex.org/W2966622267","https://openalex.org/W2970378130","https://openalex.org/W3004138340","https://openalex.org/W3089132088","https://openalex.org/W3108492605","https://openalex.org/W3124602784","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3129265786","https://openalex.org/W3130044230","https://openalex.org/W3134372643","https://openalex.org/W3176159010","https://openalex.org/W3178090389","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W2970345194","https://openalex.org/W4387400821","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2152464524","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W4360995509"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}