{"id":"https://openalex.org/W7123622741","doi":"https://doi.org/10.1109/dac63849.2025.11345708","title":"LIO-DPC: Accurate and Fast LiDAR-Inertial Odometry with Dynamic Pose Chain","display_name":"LIO-DPC: Accurate and Fast LiDAR-Inertial Odometry with Dynamic Pose Chain","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W7123622741","doi":"https://doi.org/10.1109/dac63849.2025.11345708"},"language":null,"primary_location":{"id":"doi:10.1109/dac63849.2025.11345708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dac63849.2025.11345708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 62nd ACM/IEEE Design Automation Conference (DAC)","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/A5122847870","display_name":"Yuexin Mu","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuexin Mu","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051490998","display_name":"Ao Ren","orcid":"https://orcid.org/0000-0002-2322-8038"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ao Ren","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100675843","display_name":"Duo Liu","orcid":"https://orcid.org/0000-0002-3040-2065"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Duo Liu","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122948718","display_name":"Zihao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihao Zhang","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122879566","display_name":"Haojie Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haojie Lu","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Longyi Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longyi Zhou","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089677793","display_name":"Huachen Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huachen Tan","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101516109","display_name":"Kan Zhong","orcid":"https://orcid.org/0000-0001-5278-0406"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kan Zhong","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818952","display_name":"Yujuan Tan","orcid":"https://orcid.org/0000-0002-9055-5389"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujuan Tan","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014967811","display_name":"Chaoxia Qin","orcid":"https://orcid.org/0000-0002-7193-9993"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoxia Qin","raw_affiliation_strings":["Chongqing University,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9711999893188477,"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":0.9711999893188477,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.007300000172108412,"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":0.003000000026077032,"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":0.6567000150680542},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5548999905586243},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5361999869346619},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.52920001745224},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.4462999999523163},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4097999930381775},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.3840000033378601},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.37470000982284546}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6777999997138977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.67330002784729},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6567000150680542},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5548999905586243},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5361999869346619},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.52920001745224},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.4462999999523163},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4097999930381775},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39570000767707825},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3840000033378601},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.37470000982284546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.358599990606308},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.335099995136261},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26330000162124634},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.26089999079704285}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/dac63849.2025.11345708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dac63849.2025.11345708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 62nd ACM/IEEE Design Automation Conference (DAC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1964591239","https://openalex.org/W2080823437","https://openalex.org/W2083624955","https://openalex.org/W2095025682","https://openalex.org/W2162136131","https://openalex.org/W2290102405","https://openalex.org/W2335829695","https://openalex.org/W2737100565","https://openalex.org/W2787525610","https://openalex.org/W2908603664","https://openalex.org/W2916750400","https://openalex.org/W2938818630","https://openalex.org/W3004274804","https://openalex.org/W3004334518","https://openalex.org/W3038012812","https://openalex.org/W3091198895","https://openalex.org/W3091486995","https://openalex.org/W3095662029","https://openalex.org/W3129245057","https://openalex.org/W3130321534","https://openalex.org/W3133648073","https://openalex.org/W3206845495","https://openalex.org/W4210423514","https://openalex.org/W4226264213","https://openalex.org/W4292544413","https://openalex.org/W4360995509","https://openalex.org/W4365421147","https://openalex.org/W4383220232","https://openalex.org/W4391676180","https://openalex.org/W4400770680","https://openalex.org/W4401415682"],"related_works":[],"abstract_inverted_index":{"LiDAR-inertial":[0],"odometry":[1],"is":[2,82],"widely":[3],"used":[4,106],"in":[5,135,154],"robotics":[6],"navigation,":[7],"autonomous":[8],"driving,":[9],"and":[10,59,127,138,150],"drone":[11],"operation":[12],"to":[13,91,98,107,119,130],"provide":[14],"precise,":[15],"low-latency":[16],"motion":[17,110],"estimation.":[18,111],"Filter-based":[19],"methods":[20,31,153],"are":[21,40,104,124],"fast":[22,79],"but":[23,39],"suffer":[24],"from":[25],"significant":[26],"cumulative":[27,33],"errors.":[28,141],"Graph":[29],"optimization":[30,69,90,137],"reduce":[32,131],"errors":[34],"through":[35],"loop":[36,116,140],"closure":[37],"detection":[38],"computationally":[41,86],"expensive.":[42],"In":[43],"this":[44],"work,":[45],"we":[46,63,113],"propose":[47,64,114],"LIO-DPC,":[48],"a":[49,65,92,115],"framework":[50],"that":[51,123,145],"combines":[52],"the":[53,56,78,109,132],"benefits":[54],"of":[55,94],"filter-based":[57],"approach":[58,118],"graph-based":[60],"approach.":[61],"First,":[62],"dynamic":[66],"pose":[67,75,96],"chain":[68,76],"method.":[70],"It":[71],"generates":[72],"an":[73],"initial":[74],"using":[77],"filter.":[80],"This":[81],"followed":[83],"by":[84],"applying":[85],"efficient":[87],"local":[88,95],"graph":[89,136],"set":[93],"chains":[97],"generate":[99],"refined":[100],"relative":[101],"poses,":[102],"which":[103],"then":[105],"update":[108],"Second,":[112],"sparsification":[117],"select":[120],"representative":[121],"loops":[122],"both":[125],"temporally":[126],"spatially":[128],"proximate,":[129],"computational":[133],"complexity":[134],"minimize":[139],"Extensive":[142],"experiments":[143],"demonstrate":[144],"LIO-DPC":[146],"achieves":[147],"real-time":[148],"performance":[149],"outperforms":[151],"state-of-the-art":[152],"accuracy.":[155]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-01-14T00:00:00"}