{"id":"https://openalex.org/W3205728792","doi":"https://doi.org/10.1109/icra48506.2021.9561087","title":"Vanishing Point Aided LiDAR-Visual-Inertial Estimator","display_name":"Vanishing Point Aided LiDAR-Visual-Inertial Estimator","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205728792","doi":"https://doi.org/10.1109/icra48506.2021.9561087","mag":"3205728792"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561087","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100395956","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0001-9895-394X"},"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":"Peng Wang","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064687463","display_name":"Zheng Fang","orcid":"https://orcid.org/0000-0003-3887-3141"},"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":"Zheng Fang","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023314182","display_name":"Shibo Zhao","orcid":"https://orcid.org/0000-0003-1801-8156"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shibo Zhao","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,USA","Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051643551","display_name":"Yongnan Chen","orcid":"https://orcid.org/0000-0003-3940-4654"},"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":"Yongnan Chen","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100701574","display_name":"Ming Zhou","orcid":"https://orcid.org/0000-0002-5701-1996"},"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":"Ming Zhou","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043126076","display_name":"Shan An","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shan An","raw_affiliation_strings":["JD.COM Inc,Shan An is with Tech & Data Center","Shan An is with Tech &#x0026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JD.COM Inc,Shan An is with Tech & Data Center","institution_ids":[]},{"raw_affiliation_string":"Shan An is with Tech &#x0026","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.8099,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.98692293,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"13120","last_page":"13126"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9983000159263611,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8084657788276672},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.7918515205383301},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7841060161590576},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7311958074569702},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6988962888717651},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.632771372795105},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6258515119552612},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6248787045478821},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5769989490509033},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5362747311592102},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4925437867641449},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.43985050916671753},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2511422634124756},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1329071819782257},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.12789037823677063},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12564140558242798},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09613639116287231},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09095078706741333}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8084657788276672},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.7918515205383301},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7841060161590576},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7311958074569702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6988962888717651},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.632771372795105},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6258515119552612},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6248787045478821},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5769989490509033},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5362747311592102},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4925437867641449},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.43985050916671753},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2511422634124756},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1329071819782257},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.12789037823677063},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12564140558242798},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09613639116287231},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09095078706741333},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561087","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7799999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"},{"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":35,"referenced_works":["https://openalex.org/W1498041548","https://openalex.org/W1594652635","https://openalex.org/W1608041808","https://openalex.org/W1986998312","https://openalex.org/W2043630212","https://openalex.org/W2056358962","https://openalex.org/W2061669523","https://openalex.org/W2071906076","https://openalex.org/W2118877769","https://openalex.org/W2121389894","https://openalex.org/W2130103520","https://openalex.org/W2150066425","https://openalex.org/W2160072137","https://openalex.org/W2193043285","https://openalex.org/W2294850404","https://openalex.org/W2612364357","https://openalex.org/W2745859992","https://openalex.org/W2779522084","https://openalex.org/W2796916234","https://openalex.org/W2886968365","https://openalex.org/W2891031479","https://openalex.org/W2909063396","https://openalex.org/W2945772959","https://openalex.org/W2963566952","https://openalex.org/W2967494572","https://openalex.org/W2969821913","https://openalex.org/W3084805320","https://openalex.org/W3090894413","https://openalex.org/W3130066555","https://openalex.org/W3165610079","https://openalex.org/W4210902945","https://openalex.org/W6677548441","https://openalex.org/W6758162286","https://openalex.org/W6783104634","https://openalex.org/W6795742097"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W2970345194"],"abstract_inverted_index":{"In":[0,69],"this":[1],"paper,":[2],"we":[3,71,94],"propose":[4,72,95],"a":[5,96],"vanishing":[6,31,60,88],"point":[7,32,89],"aided":[8],"LiDAR-Visual-Inertial":[9],"estimator":[10,140],"to":[11,62,73,78,86,104,110,123],"achieve":[12],"real-time,":[13],"low-drift":[14],"and":[15,42,59,83,107,138,144],"robust":[16,64],"pose":[17],"estimation.":[18],"The":[19,48],"proposed":[20,122],"method":[21,77,132],"is":[22,121],"mainly":[23],"composed":[24],"of":[25],"3":[26],"sequential":[27],"modules,":[28],"namely":[29],"IMU-aided":[30,49],"(VP)":[33],"detection":[34,51],"module,":[35,41],"voxel-map":[36,98],"based":[37,99],"feature":[38,55,100,112],"depth":[39,101,106,109],"association":[40,102],"visual":[43,111,116],"inertial":[44,117],"fixed-lag":[45,118],"smoother":[46,119],"module.":[47],"VP":[50,81],"module":[52,120],"will":[53],"detect":[54],"points,":[56],"line":[57],"segments":[58],"points":[61],"establish":[63],"correspondences":[65],"in":[66,141],"successive":[67],"frames.":[68],"particular,":[70],"use":[74],"1-line":[75],"RANSAC":[76],"provide":[79],"stable":[80],"hypotheses":[82],"polar":[84],"grid":[85],"accelerate":[87],"hypothesis":[90],"validation.":[91],"After":[92],"that,":[93],"novel":[97],"method,":[103],"retrieve":[105],"assign":[108],"efficiently.":[113],"Finally,":[114],"the":[115,134],"jointly":[124],"minimize":[125],"error":[126],"terms.":[127],"Experiments":[128],"show":[129],"that":[130],"our":[131],"outperforms":[133],"state-of-the-art":[135],"visual-inertial":[136],"odometry":[137],"LiDAR-visual":[139],"both":[142],"indoor":[143],"outdoor":[145],"environments.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}