{"id":"https://openalex.org/W4383108717","doi":"https://doi.org/10.1109/icra48891.2023.10160670","title":"4DRadarSLAM: A 4D Imaging Radar SLAM System for Large-scale Environments based on Pose Graph Optimization","display_name":"4DRadarSLAM: A 4D Imaging Radar SLAM System for Large-scale Environments based on Pose Graph Optimization","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108717","doi":"https://doi.org/10.1109/icra48891.2023.10160670"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5100701822","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0002-4991-0414"},"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":"Jun Zhang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111036230","display_name":"Huayang Zhuge","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":"Huayang Zhuge","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","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,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018102527","display_name":"Guohao Peng","orcid":"https://orcid.org/0000-0001-9967-4934"},"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":"Guohao Peng","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059520724","display_name":"Mingxing Wen","orcid":"https://orcid.org/0000-0002-9751-2648"},"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":"Mingxing Wen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030639080","display_name":"Yiyao Liu","orcid":"https://orcid.org/0000-0002-7222-739X"},"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":"Yiyao Liu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"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":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":82.0653,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.99950659,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8333","last_page":"8340"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996399998664856,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7084988355636597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6923775672912598},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6835719347000122},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6803491115570068},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6172823905944824},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5861770510673523},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5724294185638428},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.4146423637866974},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33474722504615784},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10686171054840088},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10420742630958557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09830901026725769},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08569282293319702}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7084988355636597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6923775672912598},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6835719347000122},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6803491115570068},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6172823905944824},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5861770510673523},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5724294185638428},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.4146423637866974},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33474722504615784},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10686171054840088},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10420742630958557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09830901026725769},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08569282293319702}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W78175635","https://openalex.org/W1567242735","https://openalex.org/W1650975994","https://openalex.org/W2049981393","https://openalex.org/W2101027309","https://openalex.org/W2131439959","https://openalex.org/W2153054365","https://openalex.org/W2296228853","https://openalex.org/W2512787728","https://openalex.org/W2552263821","https://openalex.org/W2566680697","https://openalex.org/W2890714858","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2940793188","https://openalex.org/W2970479183","https://openalex.org/W3000792239","https://openalex.org/W3004418007","https://openalex.org/W3011465262","https://openalex.org/W3087767329","https://openalex.org/W3089503906","https://openalex.org/W3089835902","https://openalex.org/W3090913682","https://openalex.org/W3091485922","https://openalex.org/W3100687815","https://openalex.org/W3130465612","https://openalex.org/W3157400318","https://openalex.org/W3158799039","https://openalex.org/W3164951872","https://openalex.org/W3174203047","https://openalex.org/W3181051035","https://openalex.org/W3206505934","https://openalex.org/W4200571818","https://openalex.org/W4200609497","https://openalex.org/W4249866455","https://openalex.org/W4285102317","https://openalex.org/W4308080016","https://openalex.org/W4383108957"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4313854656","https://openalex.org/W4313855562","https://openalex.org/W2091422131"],"abstract_inverted_index":{"LiDAR-based":[0],"SLAM":[1,106],"may":[2],"easily":[3],"fail":[4],"in":[5],"adverse":[6],"weathers":[7],"(e.g.,":[8],"rain,":[9],"snow,":[10],"smoke,":[11],"fog),":[12],"while":[13,34],"mmWave":[14],"Radar":[15,30,42,58,77,105],"remains":[16],"unaffected.":[17],"However,":[18],"current":[19],"researches":[20],"are":[21],"primarily":[22],"focused":[23],"on":[24,122,182],"2D$(x,y)$or":[25],"3D":[26,32,60,74],"($x,":[27,43],"y$,":[28],"doppler)":[29],"and":[31,80,93,151,169,185,193],"LiDAR,":[33,75],"limited":[35],"work":[36],"can":[37],"be":[38],"found":[39],"for":[40,103],"4D":[41,57,76,104],"y,":[44],"z$,":[45],"doppler).":[46],"As":[47],"a":[48,100,161],"new":[49],"entrant":[50],"to":[51,88,117,147,154,191,199],"the":[52,119,125,196],"market":[53],"with":[54,63,73],"unique":[55],"characteristics,":[56],"outputs":[59],"point":[61,70,82],"cloud":[62],"added":[64],"elevation":[65],"information,":[66],"rather":[67],"than":[68],"2D":[69],"cloud;":[71],"compared":[72],"has":[78],"noisier":[79],"sparser":[81],"cloud,":[83],"making":[84],"it":[85],"more":[86],"challenging":[87],"extract":[89],"geometric":[90],"features":[91],"(edge":[92],"plane).":[94],"In":[95],"this":[96],"paper,":[97],"we":[98],"propose":[99],"full":[101],"system":[102],"consisting":[107],"of":[108,128],"three":[109],"modules:":[110],"1)":[111],"Front-end":[112],"module":[113],"performs":[114],"scan-to-scan":[115],"matching":[116],"calculate":[118],"odometry":[120,152],"based":[121],"GICP,":[123],"considering":[124],"probability":[126],"distribution":[127],"each":[129],"point;":[130],"2)":[131],"Loop":[132],"detection":[133],"utilizes":[134],"multiple":[135],"rule-based":[136],"loop":[137,149,167],"pre-filtering":[138],"steps,":[139],"followed":[140],"by":[141],"an":[142],"intensity":[143],"scan":[144],"context":[145],"step":[146],"identify":[148],"candidates,":[150],"check":[153],"reject":[155],"false":[156],"loop;":[157],"3)":[158],"Back-end":[159],"builds":[160],"pose":[162,174],"graph":[163],"using":[164],"front-end":[165],"odometry,":[166],"closure,":[168],"optional":[170],"GPS":[171],"data.":[172],"Optimal":[173],"is":[175],"achieved":[176],"through$\\mathrm{g}2\\mathrm{o}$.":[177],"We":[178],"conducted":[179],"real":[180],"experiments":[181],"two":[183],"platforms":[184],"five":[186],"datasets":[187],"(ranging":[188],"from":[189],"240m":[190],"4.8km)":[192],"will":[194],"make":[195],"code":[197],"open-source":[198],"promote":[200],"further":[201],"research":[202],"at:":[203],"https://github.com/zhuge2333/4DRadarSLAM":[204]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":40},{"year":2024,"cited_by_count":33},{"year":2023,"cited_by_count":6}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}