{"id":"https://openalex.org/W4406208124","doi":"https://doi.org/10.1109/icarcv63323.2024.10821511","title":"LiDAR-Inertial- Visual Fusion SLAM in Dynamic Environments","display_name":"LiDAR-Inertial- Visual Fusion SLAM in Dynamic Environments","publication_year":2024,"publication_date":"2024-12-12","ids":{"openalex":"https://openalex.org/W4406208124","doi":"https://doi.org/10.1109/icarcv63323.2024.10821511"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv63323.2024.10821511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-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/A5084827882","display_name":"Xin Xiong","orcid":"https://orcid.org/0000-0003-2998-6494"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin Xiong","raw_affiliation_strings":["School of School of Mechanical Engineering &#x0026; Automation, North-eastern University,Shenyang,China,110819"],"affiliations":[{"raw_affiliation_string":"School of School of Mechanical Engineering &#x0026; Automation, North-eastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693520","display_name":"Zhong Luo","orcid":"https://orcid.org/0000-0002-0701-6123"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Luo","raw_affiliation_strings":["School of School of Mechanical Engineering &#x0026; Automation, North-eastern University,Shenyang,China,110819"],"affiliations":[{"raw_affiliation_string":"School of School of Mechanical Engineering &#x0026; Automation, North-eastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111457496","display_name":"Jianliang Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianliang Ma","raw_affiliation_strings":["KUKA Robots(Guang dong), Midea Group,Foshan,China,528300"],"affiliations":[{"raw_affiliation_string":"KUKA Robots(Guang dong), Midea Group,Foshan,China,528300","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100881015","display_name":"Senqiang Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senqiang Zhu","raw_affiliation_strings":["Midea Corporate Research Center,Foshan,China,528300"],"affiliations":[{"raw_affiliation_string":"Midea Corporate Research Center,Foshan,China,528300","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068253024","display_name":"Mingkang Xiong","orcid":"https://orcid.org/0000-0002-3332-5093"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingkang Xiong","raw_affiliation_strings":["Midea Corporate Research Center,Foshan,China,528300"],"affiliations":[{"raw_affiliation_string":"Midea Corporate Research Center,Foshan,China,528300","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078451424","display_name":"Hongchao Song","orcid":"https://orcid.org/0000-0002-7191-2782"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongchao Song","raw_affiliation_strings":["Midea Corporate Research Center,Foshan,China,528300"],"affiliations":[{"raw_affiliation_string":"Midea Corporate Research Center,Foshan,China,528300","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101118273","display_name":"Wei Xi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Xi","raw_affiliation_strings":["Midea Corporate Research Center,Foshan,China,528300"],"affiliations":[{"raw_affiliation_string":"Midea Corporate Research Center,Foshan,China,528300","institution_ids":["https://openalex.org/I4210093653"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5084827882"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13840899,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1080","last_page":"1085"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.771049976348877},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5959284901618958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.577488124370575},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5609705448150635},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.526555061340332},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5111451745033264},{"id":"https://openalex.org/keywords/inertial-confinement-fusion","display_name":"Inertial confinement fusion","score":0.49282076954841614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46622753143310547},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.45641452074050903},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.39008527994155884},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20837882161140442},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.16074353456497192},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13198602199554443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12291991710662842},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11484307050704956},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08599847555160522}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.771049976348877},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5959284901618958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.577488124370575},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5609705448150635},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.526555061340332},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5111451745033264},{"id":"https://openalex.org/C107430045","wikidata":"https://www.wikidata.org/wiki/Q1364409","display_name":"Inertial confinement fusion","level":3,"score":0.49282076954841614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46622753143310547},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.45641452074050903},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.39008527994155884},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20837882161140442},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.16074353456497192},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13198602199554443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12291991710662842},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11484307050704956},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08599847555160522},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv63323.2024.10821511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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":20,"referenced_works":["https://openalex.org/W2535547924","https://openalex.org/W2950989657","https://openalex.org/W3003991701","https://openalex.org/W3091727808","https://openalex.org/W3130044230","https://openalex.org/W3161855852","https://openalex.org/W3166089996","https://openalex.org/W3199184510","https://openalex.org/W3206845495","https://openalex.org/W4205725812","https://openalex.org/W4281641918","https://openalex.org/W4282830511","https://openalex.org/W4312265650","https://openalex.org/W4312376118","https://openalex.org/W4315472332","https://openalex.org/W4367359621","https://openalex.org/W4383109197","https://openalex.org/W4386473483","https://openalex.org/W4396853098","https://openalex.org/W4398202703"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"In":[0,43],"this":[1],"paper,":[2],"we":[3,66,102],"propose":[4],"a":[5,40,54],"LiDAR-Inertial-Visual":[6],"multi-sensor":[7,20],"fusion":[8,21],"SLAM":[9,22,140],"system":[10],"for":[11],"dynamic":[12,37,48,55,79,93,106,135,143],"environments.":[13,144],"While":[14],"many":[15],"state":[16],"of":[17,83],"the":[18,47,71,78,96,99,112,120,129,139],"art":[19],"systems":[23],"can":[24,132],"achieve":[25],"excellent":[26],"performance":[27],"in":[28,36,86,95,111,142],"static":[29],"environment,":[30],"achieving":[31],"high":[32],"accuracy":[33,141],"and":[34,74,108,123,137],"robustness":[35],"environment":[38],"remains":[39],"significant":[41],"challenge.":[42],"order":[44],"to":[45,76,90,104],"address":[46],"object":[49],"elimination":[50],"issue":[51],"during":[52],"mapping,":[53],"voxel":[56,80],"judgment":[57],"method":[58,131],"based":[59],"on":[60,119],"octree":[61],"map":[62],"is":[63],"proposed.":[64],"Spe-cifically,":[65],"perform":[67],"template":[68],"matching":[69],"between":[70],"current":[72],"frame":[73],"submap":[75],"calculate":[77],"occupancy":[81],"rate":[82],"point":[84],"clouds":[85],"Box,":[87],"so":[88],"as":[89],"effectively":[91,133],"detect":[92],"objects":[94,107,136],"environment.":[97],"At":[98],"same":[100],"time,":[101],"continue":[103],"track":[105],"eliminate":[109,134],"them":[110],"map.":[113],"Exten-sive":[114],"experiments":[115],"have":[116],"been":[117],"conducted":[118],"KITTI":[121],"dataset":[122],"our":[124],"own":[125],"dataset.":[126],"Results":[127],"shows":[128],"proposed":[130],"improve":[138]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
