{"id":"https://openalex.org/W4402742365","doi":"https://doi.org/10.1109/access.2024.3466109","title":"Invariant EKF for Map-Aided Localization Using the Raw 3D Lidar Scan Points Directly","display_name":"Invariant EKF for Map-Aided Localization Using the Raw 3D Lidar Scan Points Directly","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4402742365","doi":"https://doi.org/10.1109/access.2024.3466109"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3466109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3466109","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3466109","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073025144","display_name":"Zhongxing Tao","orcid":"https://orcid.org/0000-0003-4908-0649"},"institutions":[{"id":"https://openalex.org/I68986083","display_name":"Northwest Normal University","ror":"https://ror.org/00gx3j908","country_code":"CN","type":"education","lineage":["https://openalex.org/I68986083"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhongxing Tao","raw_affiliation_strings":["College of Physics and Electronic Engineering, Northwest Normal University, Lanzhou, China","College of Physics and Electronic Engineering, Northwest Normal University, Lanzhou, P. R. China"],"affiliations":[{"raw_affiliation_string":"College of Physics and Electronic Engineering, Northwest Normal University, Lanzhou, China","institution_ids":["https://openalex.org/I68986083"]},{"raw_affiliation_string":"College of Physics and Electronic Engineering, Northwest Normal University, Lanzhou, P. R. China","institution_ids":["https://openalex.org/I68986083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009947914","display_name":"Gengxin Li","orcid":"https://orcid.org/0000-0002-0911-021X"},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gengxin Li","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics (IAIR), College of Artificial Intelligence, Xi’an Jiaotong University, Xi’an, China","College of Artificial Intelligence, Institute of Artificial Intelligence and Robotics (IAIR), Xi’an Jiaotong University, Xi’an, P. R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics (IAIR), College of Artificial Intelligence, Xi’an Jiaotong University, Xi’an, China","institution_ids":["https://openalex.org/I69356397"]},{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Artificial Intelligence and Robotics (IAIR), Xi’an Jiaotong University, Xi’an, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039740748","display_name":"Teng Wan","orcid":"https://orcid.org/0000-0002-2594-8354"},"institutions":[{"id":"https://openalex.org/I68986083","display_name":"Northwest Normal University","ror":"https://ror.org/00gx3j908","country_code":"CN","type":"education","lineage":["https://openalex.org/I68986083"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Teng Wan","raw_affiliation_strings":["College of Computer Science and Engineering, Northwest Normal University, Lanzhou, China","College of Computer Science and Engineering, Northwest Normal University, Lanzhou, P. R. China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Engineering, Northwest Normal University, Lanzhou, China","institution_ids":["https://openalex.org/I68986083"]},{"raw_affiliation_string":"College of Computer Science and Engineering, Northwest Normal University, Lanzhou, P. R. China","institution_ids":["https://openalex.org/I68986083"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024504256","display_name":"Dongbin Jiao","orcid":"https://orcid.org/0000-0003-0433-2259"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongbin Jiao","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University, Lanzhou, China","School of Information Science and Engineering, Lanzhou University, Lanzhou, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]},{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, P. R. China","institution_ids":["https://openalex.org/I76214153"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073025144"],"corresponding_institution_ids":["https://openalex.org/I68986083"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4968,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73723456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"137162","last_page":"137175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T14158","display_name":"Optical Systems and Laser Technology","score":0.984499990940094,"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/lidar","display_name":"Lidar","score":0.689751923084259},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6498288512229919},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6256668567657471},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6091548204421997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5963495969772339},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5721055865287781},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.24706482887268066},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.24058809876441956},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23357006907463074},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17758718132972717}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.689751923084259},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6498288512229919},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6256668567657471},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6091548204421997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5963495969772339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5721055865287781},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.24706482887268066},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.24058809876441956},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23357006907463074},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17758718132972717},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3466109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3466109","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:16528a2551914cc58d0bd00fd16e2f4b","is_oa":true,"landing_page_url":"https://doaj.org/article/16528a2551914cc58d0bd00fd16e2f4b","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 137162-137175 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3466109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3466109","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1865085010","display_name":null,"funder_award_id":"24JRRA128","funder_id":"https://openalex.org/F4320312274","funder_display_name":"Northwest Normal University"},{"id":"https://openalex.org/G3682032297","display_name":null,"funder_award_id":"NWNU-LKQN2021-18","funder_id":"https://openalex.org/F4320312274","funder_display_name":"Northwest Normal University"},{"id":"https://openalex.org/G7227275043","display_name":null,"funder_award_id":"24JRRA128","funder_id":"https://openalex.org/F4320322880","funder_display_name":"Natural Science Foundation of Gansu Province"}],"funders":[{"id":"https://openalex.org/F4320312274","display_name":"Northwest Normal University","ror":"https://ror.org/00gx3j908"},{"id":"https://openalex.org/F4320322880","display_name":"Natural Science Foundation of Gansu Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W2021851106","https://openalex.org/W2070571667","https://openalex.org/W2131439959","https://openalex.org/W2150066425","https://openalex.org/W2158090912","https://openalex.org/W2336416123","https://openalex.org/W2569720095","https://openalex.org/W2575344258","https://openalex.org/W2592770378","https://openalex.org/W2605103573","https://openalex.org/W2754329383","https://openalex.org/W2776443693","https://openalex.org/W2892614179","https://openalex.org/W2896190020","https://openalex.org/W2908969420","https://openalex.org/W2909728968","https://openalex.org/W2968903043","https://openalex.org/W2998513956","https://openalex.org/W3037129921","https://openalex.org/W3104718463","https://openalex.org/W3111598592","https://openalex.org/W3159028934","https://openalex.org/W3166418858","https://openalex.org/W3173112500","https://openalex.org/W4220677303","https://openalex.org/W4249866455","https://openalex.org/W4285512267","https://openalex.org/W4293811589","https://openalex.org/W4295788752","https://openalex.org/W4315474360","https://openalex.org/W4386952181","https://openalex.org/W4387010578","https://openalex.org/W4387789869","https://openalex.org/W4389252871","https://openalex.org/W4390738530","https://openalex.org/W4401415150","https://openalex.org/W4401879490","https://openalex.org/W6675606146","https://openalex.org/W6688465322"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Map-aided":[0],"localization":[1,75,95,154,208,241,265],"using":[2,76,155],"3D":[3,79,107,120,133,158],"lidar":[4,80,108,134,159],"scan":[5,81,109,135,160],"points":[6,82,110,136,161],"is":[7,42,101,174,246,252,259],"an":[8,32],"essential":[9],"and":[10,26,119,137,146,172,203,222,226,234,248,256,277],"fundamental":[11],"technology":[12],"in":[13,31,58,103,164,211],"the":[14,24,29,35,48,59,70,73,77,99,105,116,128,131,138,142,152,156,167,177,181,184,189,192,196,201,206,214,219,227,232,235,239,243,249,254,257,263,267,271,274,278,281],"field":[15],"of":[16,28,169,183,191,199,270,273,280],"Intelligent":[17],"Vehicles":[18],"(IVs)":[19],"research,":[20],"which":[21,104],"can":[22,237],"estimate":[23,127],"position":[25],"orientation":[27],"vehicle":[30],"environment":[33],"where":[34],"Global":[36],"Navigation":[37],"Satellite":[38],"System":[39],"(GNSS)":[40],"signal":[41],"not":[43],"available.":[44],"In":[45,89],"recent":[46],"years,":[47],"Invariant":[49],"Extended":[50],"Kalman":[51],"Filter":[52],"(InEKF)":[53],"has":[54,84],"gradually":[55],"received":[56],"attention":[57],"state":[60,118],"estimation":[61],"for":[62,72,151,205,262],"autonomous":[63],"systems.":[64],"However,":[65],"how":[66],"to":[67,86,114,126],"properly":[68],"apply":[69],"InEKF":[71,100,144,148],"map-aided":[74,94,153,207,264],"raw":[78,106,132,157],"directly":[83,112],"yet":[85],"be":[87],"explored.":[88],"this":[90],"paper,":[91],"a":[92],"novel":[93],"method":[96],"based":[97],"on":[98,166,188,218],"proposed,":[102],"are":[111,124,162,186,209,216],"used":[113],"update":[115],"predicted":[117],"Registration":[121],"Algorithms":[122],"(3DRAs)":[123],"employed":[125],"correspondences":[129],"between":[130],"map":[139,193,244,250,275],"points.":[140],"Then,":[141],"Left":[143],"(LInEKF)":[145],"Right":[147],"(RInEKF)":[149],"equations":[150],"derived":[163],"detail":[165],"foundation":[168],"Lie":[170],"Group":[171],"it":[173],"found":[175],"from":[176],"propagation":[178],"equation":[179],"that":[180,230],"predictions":[182],"RInEKF":[185,202,236,268],"dependent":[187],"location":[190,272],"origin.":[194],"Next,":[195],"implementation":[197],"workflows":[198],"both":[200,231],"LInEKF":[204,233,258],"described":[210],"detail.":[212],"Finally,":[213],"experiments":[215],"conducted":[217],"public":[220],"datasets":[221],"our":[223],"collected":[224],"dataset,":[225],"results":[228],"show":[229],"realize":[238],"accurate":[240],"when":[242],"size":[245,279],"small":[247],"origin":[251,276],"near":[253],"map,":[255],"more":[260],"suitable":[261],"than":[266],"regardless":[269],"map.":[282]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}