{"id":"https://openalex.org/W4308091063","doi":"https://doi.org/10.1109/ccece49351.2022.9918525","title":"Scan Context 3D Lidar Inertial Odometry via Iterated ESKF and Incremental K-Dimensional Tree","display_name":"Scan Context 3D Lidar Inertial Odometry via Iterated ESKF and Incremental K-Dimensional Tree","publication_year":2022,"publication_date":"2022-09-18","ids":{"openalex":"https://openalex.org/W4308091063","doi":"https://doi.org/10.1109/ccece49351.2022.9918525"},"language":"en","primary_location":{"id":"doi:10.1109/ccece49351.2022.9918525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece49351.2022.9918525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5023430128","display_name":"Chang Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chang Xu","raw_affiliation_strings":["Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","Electrical and Computer Engineering, Dalhousie University, Halifax, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087369451","display_name":"Hanxiang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hanxiang Zhang","raw_affiliation_strings":["Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","Electrical and Computer Engineering, Dalhousie University, Halifax, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","Electrical and Computer Engineering, Dalhousie University, Halifax, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I129902397"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9969000220298767,"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":0.9955999851226807,"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":0.8863190412521362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6749738454818726},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6703583598136902},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.669876217842102},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5361105799674988},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.510959804058075},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4493749439716339},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.41322576999664307},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3498459458351135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29118552803993225},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2586226463317871},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.24749085307121277},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24421054124832153},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12763836979866028}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8863190412521362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6749738454818726},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6703583598136902},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.669876217842102},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5361105799674988},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.510959804058075},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4493749439716339},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.41322576999664307},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3498459458351135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29118552803993225},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2586226463317871},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.24749085307121277},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24421054124832153},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12763836979866028},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccece49351.2022.9918525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece49351.2022.9918525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2296228853","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2938818630","https://openalex.org/W2963566952","https://openalex.org/W3091332390","https://openalex.org/W3091486995","https://openalex.org/W3120564201","https://openalex.org/W3126668339","https://openalex.org/W3129245057","https://openalex.org/W3132921302","https://openalex.org/W3196415427","https://openalex.org/W3196544863","https://openalex.org/W3213885632","https://openalex.org/W4205709873","https://openalex.org/W4210549882"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4313854656"],"abstract_inverted_index":{"This":[0],"paper":[1],"focused":[2],"on":[3],"a":[4,17,54,89],"3D":[5],"lidar":[6,50,68],"inertial":[7],"odometry":[8,51],"algorithm":[9,107,136],"framework":[10],"that":[11,133],"improves":[12],"the":[13,25,27,36,49,59,62,67,73,86,99,105,111,123,134,145],"LeGO-LOAM":[14,109],"by":[15],"constructing":[16],"new":[18],"back-end":[19],"optimization":[20],"algorithm.":[21],"In":[22,85],"comparison":[23],"with":[24,43,72,108,126],"LeGO-LOAM,":[26],"feature":[28],"extraction":[29],"and":[30,61,110,116],"image":[31],"projection":[32],"processes":[33],"are":[34],"still":[35],"same.":[37],"Two-step":[38],"Levenberg":[39],"Marquardt":[40],"was":[41],"replaced":[42,71],"an":[44],"iterated":[45],"ESKF":[46],"method":[47,65,75,93],"in":[48,66,82,142],"to":[52,76,96],"produce":[53],"better":[55,97,140],"initial":[56],"pose":[57],"for":[58],"robots,":[60],"k-d":[63],"tree":[64],"mapping":[69,80],"is":[70,94],"ikd-Tree":[74],"ensure":[77],"high":[78],"performance":[79],"process":[81],"real":[83],"time.":[84],"loop":[87],"closure,":[88],"scan":[90],"context":[91],"search":[92],"added":[95],"correct":[98],"algorithm\u2019s":[100],"final":[101],"trajectory.":[102],"We":[103,131],"compare":[104],"improved":[106,135],"two":[112],"other":[113,146],"methods,":[114],"LIO-SAM":[115],"A-LOAM,":[117],"using":[118],"three":[119,147],"datasets":[120],"gathered":[121],"from":[122],"Mulran":[124],"dataset":[125],"different":[127],"large-scale":[128],"outdoor":[129],"scenes.":[130],"show":[132],"achieves":[137],"similar":[138],"or":[139],"accuracy":[141],"real-time":[143],"than":[144],"algorithms.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}