{"id":"https://openalex.org/W4383109197","doi":"https://doi.org/10.1109/icra48891.2023.10161269","title":"Asynchronous State Estimation of Simultaneous Ego-motion Estimation and Multiple Object Tracking for LiDAR-Inertial Odometry","display_name":"Asynchronous State Estimation of Simultaneous Ego-motion Estimation and Multiple Object Tracking for LiDAR-Inertial Odometry","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109197","doi":"https://doi.org/10.1109/icra48891.2023.10161269"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161269","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":"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/A5101401849","display_name":"Yu-Kai Lin","orcid":"https://orcid.org/0000-0002-9839-2174"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Yu-Kai Lin","raw_affiliation_strings":["Institute of Multimedia Engineering, National Yang Ming Chiao Tung University,Hsinchu,Taiwan","Institute of Multimedia Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Institute of Multimedia Engineering, National Yang Ming Chiao Tung University,Hsinchu,Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Institute of Multimedia Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015123324","display_name":"Wen\u2010Chieh Lin","orcid":"https://orcid.org/0000-0002-9704-5373"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-Chieh Lin","raw_affiliation_strings":["Institute of Multimedia Engineering, National Yang Ming Chiao Tung University,Hsinchu,Taiwan","Institute of Multimedia Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Institute of Multimedia Engineering, National Yang Ming Chiao Tung University,Hsinchu,Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Institute of Multimedia Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041579723","display_name":"Chieh\u2010Chih Wang","orcid":"https://orcid.org/0000-0001-9385-0044"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]},{"id":"https://openalex.org/I4210148468","display_name":"Industrial Technology Research Institute","ror":"https://ror.org/05szzwt63","country_code":"TW","type":"nonprofit","lineage":["https://openalex.org/I4210148468"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chieh-Chih Wang","raw_affiliation_strings":["National Yang Ming Chiao Tung University,Department of Electrical and Computer Engineering,Hsinchu,Taiwan","Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan","Department of Electrical and Computer Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Yang Ming Chiao Tung University,Department of Electrical and Computer Engineering,Hsinchu,Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I4210148468"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101401849"],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":11.0295,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98283697,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10616","last_page":"10622"},"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":0.9983000159263611,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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/odometry","display_name":"Odometry","score":0.9422299861907959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7234582901000977},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7233556509017944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7033252120018005},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.691379725933075},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.453940212726593},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4535260796546936},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4534771740436554},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41451019048690796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19842660427093506},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1329127848148346},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06717583537101746}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9422299861907959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7234582901000977},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7233556509017944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7033252120018005},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.691379725933075},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.453940212726593},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4535260796546936},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4534771740436554},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41451019048690796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19842660427093506},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1329127848148346},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06717583537101746},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161269","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":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/1","display_name":"No poverty"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1527851777","https://openalex.org/W1914646313","https://openalex.org/W1968315983","https://openalex.org/W2047328415","https://openalex.org/W2056145819","https://openalex.org/W2074515009","https://openalex.org/W2117228865","https://openalex.org/W2150066425","https://openalex.org/W2214788824","https://openalex.org/W2229908198","https://openalex.org/W2296228853","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2745859992","https://openalex.org/W2902093375","https://openalex.org/W2909157769","https://openalex.org/W2916750400","https://openalex.org/W2938672559","https://openalex.org/W2950629728","https://openalex.org/W2968296999","https://openalex.org/W2968618534","https://openalex.org/W2968829478","https://openalex.org/W2981856731","https://openalex.org/W3028228043","https://openalex.org/W3034848995","https://openalex.org/W3048862728","https://openalex.org/W3091727808","https://openalex.org/W3098467253","https://openalex.org/W3102327032","https://openalex.org/W3103887859","https://openalex.org/W3124420883","https://openalex.org/W3127229203","https://openalex.org/W3129245057","https://openalex.org/W3130219368","https://openalex.org/W3146082954","https://openalex.org/W3166089996","https://openalex.org/W3199037603","https://openalex.org/W4200200540","https://openalex.org/W4221146416","https://openalex.org/W4243216532","https://openalex.org/W4289145348","https://openalex.org/W6668962430","https://openalex.org/W6689475862","https://openalex.org/W6778471983","https://openalex.org/W6809661662"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"We":[0,79],"propose":[1],"LiDAR-Inertial":[2],"Odometry":[3],"via":[4],"Simultaneous":[5],"EGo-motion":[6],"estimation":[7,27],"and":[8,36,69,99,115,125,141],"Multiple":[9],"Object":[10],"Tracking":[11],"(LIO-SEGMOT),":[12],"an":[13,111,137],"optimization-based":[14],"odometry":[15,35,57,68,118,144],"approach":[16,28],"targeted":[17],"for":[18],"dynamic":[19,92],"environments.":[20],"LIO-SEGMOT":[21,42,81,109,135],"is":[22,63],"formulated":[23],"as":[24],"a":[25,60,87],"state":[26,31],"with":[29],"asynchronous":[30],"update":[32],"of":[33,94,117,122,143],"the":[34,37,51,56,83,95,100],"object":[38,46,70],"tracking.":[39],"That":[40],"is,":[41],"can":[43],"provide":[44],"continuous":[45],"tracking":[47],"results":[48],"while":[49],"preserving":[50],"keyframe":[52],"selection":[53],"mechanism":[54],"in":[55,120],"system.":[58],"Meanwhile,":[59],"hierarchical":[61],"criterion":[62],"designed":[64],"to":[65,76],"properly":[66],"couple":[67],"tracking,":[71],"preventing":[72],"system":[73],"instability":[74],"due":[75],"poor":[77],"detections.":[78],"compare":[80],"against":[82],"baseline":[84],"model":[85],"LIO-SAM,":[86],"state-of-the-art":[88],"LIO":[89],"approach,":[90],"under":[91],"environments":[93],"KITTI":[96],"raw":[97],"dataset":[98],"self-collected":[101],"Hsinchu":[102],"dataset.":[103],"The":[104,129],"former":[105],"experiment":[106,131],"shows":[107],"that":[108,134],"obtains":[110,136],"average":[112,138],"improvement":[113,139],"1.61%":[114],"5.41%":[116],"accuracy":[119],"terms":[121],"absolute":[123],"translational":[124],"rotational":[126],"trajectory":[127],"errors.":[128],"latter":[130],"also":[132],"indicates":[133],"6.97%":[140],"4.21%":[142],"accuracy.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}