{"id":"https://openalex.org/W4391769918","doi":"https://doi.org/10.1109/icceic60201.2023.10426652","title":"With Fused Point Cloud Height and Intensity Information improved the Loop Closure Detection for LeGO-LOAM","display_name":"With Fused Point Cloud Height and Intensity Information improved the Loop Closure Detection for LeGO-LOAM","publication_year":2023,"publication_date":"2023-10-20","ids":{"openalex":"https://openalex.org/W4391769918","doi":"https://doi.org/10.1109/icceic60201.2023.10426652"},"language":"en","primary_location":{"id":"doi:10.1109/icceic60201.2023.10426652","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icceic60201.2023.10426652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 4th International Conference on Computer Engineering and Intelligent Control (ICCEIC)","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/A5101576021","display_name":"Yang Cheng","orcid":"https://orcid.org/0000-0002-6785-7776"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Cheng","raw_affiliation_strings":["Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I157507598"]},{"raw_affiliation_string":"The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405185","display_name":"Zhenyu Liu","orcid":"https://orcid.org/0000-0003-2463-4553"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Liu","raw_affiliation_strings":["Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I157507598"]},{"raw_affiliation_string":"The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112975233","display_name":"Fanrui Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanrui Luo","raw_affiliation_strings":["Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I157507598"]},{"raw_affiliation_string":"The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017613188","display_name":"Mingmin Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingmin Liu","raw_affiliation_strings":["SIASUN Robot &#x0026; Automation Co,Shenyang,China"],"affiliations":[{"raw_affiliation_string":"SIASUN Robot &#x0026; Automation Co,Shenyang,China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100449142","display_name":"Xiaoyu Li","orcid":"https://orcid.org/0000-0002-0561-2028"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Li","raw_affiliation_strings":["Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I157507598"]},{"raw_affiliation_string":"The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100851551","display_name":"Jianliang Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianliang Zhu","raw_affiliation_strings":["Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Shenyang University of Technology,The Department of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I157507598"]},{"raw_affiliation_string":"The Department of Information Science and Engineering, Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101576021"],"corresponding_institution_ids":["https://openalex.org/I157507598"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10017859,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"93","last_page":"98"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9962000250816345,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9944999814033508,"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/loam","display_name":"Loam","score":0.6920268535614014},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.6266265511512756},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.56116783618927},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5578088164329529},{"id":"https://openalex.org/keywords/intensity","display_name":"Intensity (physics)","score":0.5103110671043396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4699400067329407},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.44652417302131653},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44407641887664795},{"id":"https://openalex.org/keywords/cloud-point","display_name":"Cloud point","score":0.4157181680202484},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.31280773878097534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2391117513179779},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2371484935283661},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22676807641983032},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21332663297653198},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.10428270697593689},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09660360217094421},{"id":"https://openalex.org/keywords/soil-science","display_name":"Soil science","score":0.08593890070915222},{"id":"https://openalex.org/keywords/thermodynamics","display_name":"Thermodynamics","score":0.0760549008846283}],"concepts":[{"id":"https://openalex.org/C113578266","wikidata":"https://www.wikidata.org/wiki/Q1131303","display_name":"Loam","level":3,"score":0.6920268535614014},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.6266265511512756},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.56116783618927},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5578088164329529},{"id":"https://openalex.org/C93038891","wikidata":"https://www.wikidata.org/wiki/Q1061524","display_name":"Intensity (physics)","level":2,"score":0.5103110671043396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4699400067329407},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.44652417302131653},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44407641887664795},{"id":"https://openalex.org/C22673317","wikidata":"https://www.wikidata.org/wiki/Q490222","display_name":"Cloud point","level":3,"score":0.4157181680202484},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.31280773878097534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2391117513179779},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2371484935283661},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22676807641983032},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21332663297653198},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.10428270697593689},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09660360217094421},{"id":"https://openalex.org/C159390177","wikidata":"https://www.wikidata.org/wiki/Q9161265","display_name":"Soil science","level":1,"score":0.08593890070915222},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0760549008846283},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C58226133","wikidata":"https://www.wikidata.org/wiki/Q1324199","display_name":"Pulmonary surfactant","level":2,"score":0.0},{"id":"https://openalex.org/C159750122","wikidata":"https://www.wikidata.org/wiki/Q96621023","display_name":"Soil water","level":2,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icceic60201.2023.10426652","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icceic60201.2023.10426652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 4th International Conference on Computer Engineering and Intelligent Control (ICCEIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2084849910","https://openalex.org/W2150066425","https://openalex.org/W2296228853","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W3011465262","https://openalex.org/W3100687815","https://openalex.org/W4205686350","https://openalex.org/W4309787584","https://openalex.org/W4385614549"],"related_works":["https://openalex.org/W2242679239","https://openalex.org/W187984088","https://openalex.org/W2394254651","https://openalex.org/W4230387830","https://openalex.org/W2463177615","https://openalex.org/W2073745919","https://openalex.org/W2172607311","https://openalex.org/W2355515522","https://openalex.org/W2197132351","https://openalex.org/W2018482133"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,14,26,43,84,90,107,141,154],"Mapping":[3,91],"(SLAM)":[4],"is":[5,53,121,132,144],"primarily":[6],"divided":[7],"into":[8,99],"two":[9],"components:":[10],"the":[11,15,19,36,40,44,70,76,100,112,124,134,138,142,162,171],"front-end":[12,41],"odometry":[13,42],"back-end":[16,56],"optimization.":[17,57],"During":[18],"measurement":[20],"process,":[21],"errors":[22,61],"in":[23,69,178],"feature":[24,105],"extraction":[25],"noise":[27],"effects":[28],"lead":[29],"to":[30,103,149],"an":[31],"accumulation":[32],"of":[33,114,180],"discrepancies":[34],"between":[35,137],"estimated":[37],"position":[38,46],"by":[39,62,111],"actual":[45],"over":[47],"time.":[48],"Therefore,":[49],"loop":[50,130],"closure":[51,119],"detection":[52,120],"introduced":[54],"for":[55,151],"It":[58],"corrects":[59],"accumulated":[60],"identifying":[63],"previously":[64],"visited":[65],"landmarks":[66],"or":[67],"positions":[68],"scene.":[71],"This":[72],"paper":[73],"builds":[74],"upon":[75],"LeGO-LOAM-SC":[77],"SLAM":[78],"algorithm,":[79],"which":[80],"combines":[81],"scan":[82],"context":[83],"lightweight":[85],"ground":[86],"optimization":[87,153],"LiDAR":[88],"Odometry":[89],"(LeGO-LOAM).":[92],"We":[93],"integrate":[94],"point":[95,155],"cloud":[96,156],"intensity":[97],"information":[98],"global":[101,126],"descriptor":[102],"mitigate":[104],"loss":[106],"consequent":[108],"misalignment":[109],"caused":[110],"use":[113],"a":[115,129,147],"single":[116],"descriptor.":[117,127],"Loop":[118],"performed":[122],"using":[123],"fused":[125],"When":[128],"frame":[131,140],"detected,":[133],"relative":[135],"pose":[136],"current":[139],"history":[143],"added":[145],"as":[146],"constraint":[148],"GTSAM":[150],"graphical":[152],"map":[157],"construction.":[158],"Experiments":[159],"conducted":[160],"on":[161],"publicly":[163],"available":[164],"KITTI":[165],"dataset\u2019s":[166],"sequence":[167],"05":[168],"demonstrate":[169],"that":[170],"proposed":[172],"enhanced":[173],"algorithm":[174],"outperforms":[175],"existing":[176],"methods":[177],"terms":[179],"performance.":[181]},"counts_by_year":[],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
