{"id":"https://openalex.org/W2890709184","doi":"https://doi.org/10.1109/icra.2018.8460204","title":"Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization","display_name":"Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890709184","doi":"https://doi.org/10.1109/icra.2018.8460204","mag":"2890709184"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460204","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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/A5055849494","display_name":"Patrick Geneva","orcid":"https://orcid.org/0000-0002-2179-3447"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Patrick Geneva","raw_affiliation_strings":["Department of Computer & Information Sciences, University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer & Information Sciences, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041069558","display_name":"Kevin Eckenhoff","orcid":"https://orcid.org/0000-0001-6985-3210"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Eckenhoff","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055849494"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":4.4358,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.93895657,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"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/asynchronous-communication","display_name":"Asynchronous communication","score":0.861477255821228},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7463690042495728},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6740033626556396},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6484700441360474},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.525769054889679},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.48457252979278564},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.46350258588790894},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.45620062947273254},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38581955432891846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3236781358718872},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.25648343563079834},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22950035333633423},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1068115234375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1004396378993988},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.081594318151474}],"concepts":[{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.861477255821228},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7463690042495728},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6740033626556396},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6484700441360474},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.525769054889679},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.48457252979278564},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.46350258588790894},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.45620062947273254},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38581955432891846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3236781358718872},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.25648343563079834},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22950035333633423},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1068115234375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1004396378993988},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.081594318151474},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460204","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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":24,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2017489593","https://openalex.org/W2061176333","https://openalex.org/W2064169939","https://openalex.org/W2117082647","https://openalex.org/W2153054365","https://openalex.org/W2154459632","https://openalex.org/W2182229738","https://openalex.org/W2217443765","https://openalex.org/W2296228853","https://openalex.org/W2336416123","https://openalex.org/W2461937780","https://openalex.org/W2518401284","https://openalex.org/W2535547924","https://openalex.org/W2565651782","https://openalex.org/W2745007981","https://openalex.org/W3021865145","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W4249582655","https://openalex.org/W4388475847","https://openalex.org/W6685664056","https://openalex.org/W6731124369","https://openalex.org/W6776988302"],"related_works":["https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W2371994528","https://openalex.org/W2354489033","https://openalex.org/W2007118529","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2978332301","https://openalex.org/W2152662039","https://openalex.org/W2726747157"],"abstract_inverted_index":{"In":[0,57],"this":[1,26],"paper,":[2],"we":[3,35,59],"address":[4],"the":[5,30,85,93,114],"problem":[6],"of":[7,22,48,64,87],"optimally":[8],"fusing":[9],"multiple":[10,49],"heterogeneous":[11,71],"and":[12,20,45,79],"asynchronous":[13],"sensors":[14,51,72],"for":[15,43,77],"use":[16],"in":[17,81,112],"3D":[18],"mapping":[19,78],"localization":[21,80],"autonomous":[23],"vehicles.":[24],"To":[25],"end,":[27],"based":[28],"on":[29,107],"factor":[31,75],"graph-based":[32],"optimization":[33],"framework,":[34],"design":[36],"a":[37,61,74,108,127],"modular":[38],"sensor-fusion":[39,103],"system":[40,104],"that":[41],"allows":[42],"efficient":[44],"accurate":[46],"incorporation":[47],"navigation":[50],"operating":[52],"at":[53],"different":[54],"sampling":[55],"rates.":[56],"particular,":[58],"develop":[60],"general":[62],"method":[63],"out-of-sequence":[65],"(asynchronous)":[66],"measurement":[67],"alignment":[68,116],"to":[69,95,119,126],"incorporate":[70],"into":[73],"graph":[76,89,94],"3D,":[82],"without":[83,130],"requiring":[84],"addition":[86],"new":[88],"nodes,":[90],"thus":[91],"allowing":[92],"have":[96,120],"an":[97,121],"overall":[98],"reduced":[99],"complexity.":[100],"The":[101],"proposed":[102],"is":[105,117],"validated":[106],"real-world":[109],"experimental":[110],"dataset,":[111],"which":[113],"asynchronous-measurement":[115],"shown":[118],"improved":[122],"performance":[123],"when":[124],"compared":[125],"naive":[128],"approach":[129],"alignment.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1}],"updated_date":"2026-01-24T23:23:39.755997","created_date":"2025-10-10T00:00:00"}
