{"id":"https://openalex.org/W4406233946","doi":"https://doi.org/10.1109/icarcv63323.2024.10821698","title":"CT-MLO: Voxel-Based Multi-LiDAR Odometry Using Continuous-Time Kalman Filter","display_name":"CT-MLO: Voxel-Based Multi-LiDAR Odometry Using Continuous-Time Kalman Filter","publication_year":2024,"publication_date":"2024-12-12","ids":{"openalex":"https://openalex.org/W4406233946","doi":"https://doi.org/10.1109/icarcv63323.2024.10821698"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv63323.2024.10821698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821698","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/A5044087019","display_name":"Hongming Shen","orcid":"https://orcid.org/0000-0002-1491-5346"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Hongming Shen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773430","display_name":"Zhenyu Wu","orcid":"https://orcid.org/0000-0002-9094-4982"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhenyu Wu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100391726","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0001-7283-8652"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011097409","display_name":"Qiyang Lyu","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Qiyang Lyu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010062994","display_name":"Hongwei Zhou","orcid":"https://orcid.org/0009-0002-9782-9415"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Huiqin Zhou","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100758331","display_name":"Yeqing Zhu","orcid":"https://orcid.org/0000-0002-6193-5753"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yeqing Zhu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN),Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5044087019"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.7786,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81904557,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"238","last_page":"244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.988099992275238,"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":0.988099992275238,"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":0.9664999842643738,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9635999798774719,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7729091644287109},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7232388257980347},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7068763971328735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6340599060058594},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6099047064781189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6083964109420776},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.5683949589729309},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.4971919357776642},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.467492014169693},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.43502211570739746},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1973285675048828},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15595069527626038},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08979833126068115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08095437288284302}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7729091644287109},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7232388257980347},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7068763971328735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6340599060058594},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6099047064781189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6083964109420776},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.5683949589729309},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.4971919357776642},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.467492014169693},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.43502211570739746},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1973285675048828},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15595069527626038},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08979833126068115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08095437288284302}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv63323.2024.10821698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821698","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":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320696","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2419212966","https://openalex.org/W2909908358","https://openalex.org/W2990449593","https://openalex.org/W3112226520","https://openalex.org/W3126674423","https://openalex.org/W3129245057","https://openalex.org/W3130955304","https://openalex.org/W3159136954","https://openalex.org/W3159362465","https://openalex.org/W3171246200","https://openalex.org/W3199503344","https://openalex.org/W3201923677","https://openalex.org/W3203066970","https://openalex.org/W3207826836","https://openalex.org/W3214208961","https://openalex.org/W4210423514","https://openalex.org/W4214940741","https://openalex.org/W4281479885","https://openalex.org/W4281555123","https://openalex.org/W4285269741","https://openalex.org/W4292544413","https://openalex.org/W4312713747","https://openalex.org/W4321033118","https://openalex.org/W4321194448","https://openalex.org/W4362698359","https://openalex.org/W4383109468","https://openalex.org/W4388894246","https://openalex.org/W4388983935","https://openalex.org/W4390636204","https://openalex.org/W4390691142","https://openalex.org/W4391590977","https://openalex.org/W4395029090","https://openalex.org/W6697304529"],"related_works":["https://openalex.org/W4387559098","https://openalex.org/W4367281123","https://openalex.org/W4387452254","https://openalex.org/W2770318696","https://openalex.org/W1976086917","https://openalex.org/W2772311278","https://openalex.org/W4206024512","https://openalex.org/W2359845109","https://openalex.org/W2089114113","https://openalex.org/W2136719298"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"LiDAR-based":[3],"localization":[4,18],"and":[5,16,28,33,62,141,176,196],"mapping":[6],"methods":[7],"have":[8],"achieved":[9],"significant":[10],"progress":[11],"thanks":[12],"to":[13,48,74,104,201],"their":[14],"reliable":[15],"real-time":[17,63,153,195],"capability.":[19],"However,":[20],"single":[21,112],"LiDAR":[22,43,80,120,132],"odometry":[23],"often":[24],"faces":[25],"hardware":[26],"failures":[27],"degradation":[29],"in":[30,82,194],"practical":[31],"scenarios,":[32,172],"the":[34,75,88,116,123,127,134,165,185],"continuous-time":[35,51,71,77,90,131,139,191],"measurement":[36],"characteristic":[37],"is":[38,102,168,197],"constantly":[39],"neglected":[40],"by":[41],"existing":[42],"odometry.":[44],"This":[45],"motivates":[46],"us":[47],"develop":[49],"a":[50,70,83,97,111,146,158],"Multi-LiDAR":[52],"Odometry":[53],"(MLO)":[54],"method,":[55],"namely":[56],"CT-MLO,":[57],"which":[58,150],"can":[59,86,151,188],"realize":[60],"accurate":[61],"state":[64,154,192],"estimation":[65,155],"using":[66],"multi-LiDAR":[67,99],"measurements":[68],"through":[69,170],"perspective.":[72],"Due":[73],"advantageous":[76],"formulation,":[78],"each":[79],"point":[81,84,113],"stream":[85],"query":[87],"corresponding":[89],"trajectory":[91],"within":[92,145],"its":[93],"time":[94],"instants.":[95],"Additionally,":[96],"decentralized":[98],"synchronization":[100],"scheme":[101],"devised":[103],"combine":[105],"points":[106],"from":[107],"separate":[108],"LiDARs":[109],"into":[110],"cloud":[114],"without":[115],"need":[117],"for":[118,130],"primary":[119],"assignment.":[121],"With":[122],"detailed":[124],"derivation":[125],"of":[126,164],"analytic":[128],"Jacobians":[129],"observation,":[133],"proposed":[135,166,186],"method":[136,167],"integrates":[137],"synchronization,":[138],"estimation,":[140],"voxel":[142],"map":[143],"management":[144],"Kalman":[147],"filter":[148],"framework,":[149],"achieve":[152,189],"with":[156],"only":[157],"few":[159],"linear":[160],"iterations.":[161],"The":[162,181],"effectiveness":[163],"demonstrated":[169],"various":[171],"including":[173],"public":[174],"datasets":[175],"real-world":[177],"autonomous":[178],"driving":[179],"experiments.":[180],"results":[182],"demonstrate":[183],"that":[184],"CT-MLO":[187],"high-accuracy":[190],"estimations":[193],"demonstratively":[198],"competitive":[199],"compared":[200],"other":[202],"State-of-the-Art":[203],"(SOTA)":[204],"methods.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
