{"id":"https://openalex.org/W4413945039","doi":"https://doi.org/10.1109/icra55743.2025.11127560","title":"LiLoc: Lifelong Localization Using Adaptive Submap Joining and Egocentric Factor Graph","display_name":"LiLoc: Lifelong Localization Using Adaptive Submap Joining and Egocentric Factor Graph","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945039","doi":"https://doi.org/10.1109/icra55743.2025.11127560"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5113002861","display_name":"Yixin Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yixin Fang","raw_affiliation_strings":["Zhejiang University"],"affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100324116","display_name":"Yanyan Li","orcid":"https://orcid.org/0000-0001-7292-9175"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yanyan Li","raw_affiliation_strings":["National University of Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101922114","display_name":"Kun Qian","orcid":"https://orcid.org/0000-0002-5830-765X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kun Qian","raw_affiliation_strings":["Southeast University"],"affiliations":[{"raw_affiliation_string":"Southeast University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100646921","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0003-0659-181X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Zhejiang University"],"affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071967339","display_name":"Gim Hee Lee","orcid":"https://orcid.org/0000-0002-1583-0475"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gim Hee Lee","raw_affiliation_strings":["National University of Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113002861"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":2.6381,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91548146,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8041","last_page":"8047"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.8700000047683716,"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"}},"topics":[{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.8700000047683716,"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/computer-science","display_name":"Computer science","score":0.5864344835281372},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5376618504524231},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.5174446702003479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42272546887397766},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3787117302417755},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16467657685279846},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09493237733840942}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5864344835281372},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5376618504524231},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.5174446702003479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42272546887397766},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3787117302417755},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16467657685279846},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09493237733840942}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":26,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W2011897632","https://openalex.org/W2119851068","https://openalex.org/W2138471467","https://openalex.org/W2160584648","https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2344992754","https://openalex.org/W2411093439","https://openalex.org/W2482726005","https://openalex.org/W2519823314","https://openalex.org/W2910489334","https://openalex.org/W2910925829","https://openalex.org/W2940793188","https://openalex.org/W3090241175","https://openalex.org/W3111598592","https://openalex.org/W3129245057","https://openalex.org/W3186380594","https://openalex.org/W3206790221","https://openalex.org/W3207290493","https://openalex.org/W4210423514","https://openalex.org/W4285033252","https://openalex.org/W4285512293","https://openalex.org/W4391467941","https://openalex.org/W4401415150","https://openalex.org/W4401415409"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,18,68,115,127],"versatile":[4],"graph-based":[5],"lifelong":[6],"localization":[7,166,196],"framework":[8,155],"using":[9,77],"LiDAR,":[10],"LiLoc,":[11],"which":[12],"enhances":[13],"its":[14],"timeliness":[15],"by":[16,126,146],"maintaining":[17],"single":[19],"central":[20,31,52,182],"session":[21],"while":[22],"improves":[23],"the":[24,30,51,84,90,105,120,134,140,154,170,178],"accuracy":[25,91],"through":[26],"multi-modal":[27],"factors":[28,113,123],"between":[29,159],"and":[32,48,54,80,110,164,191],"subsidiary":[33,73],"sessions.":[34],"First,":[35],"an":[36,97],"adaptive":[37],"submap":[38],"joining":[39],"strategy":[40],"is":[41,75,187],"employed":[42],"to":[43,55,139,174],"generate":[44],"prior":[45,135,142,179],"submaps":[46,180],"(keyframes":[47],"poses)":[49],"for":[50,58,64,72],"session,":[53],"provide":[56],"priors":[57],"subsidiaries":[59],"when":[60],"constraints":[61],"are":[62,124],"needed":[63],"robust":[65],"localization.":[66],"Next,":[67],"coarse-to-fine":[69],"pose":[70,143],"initialization":[71],"sessions":[74],"performed":[76],"vertical":[78],"recognition":[79],"ICP":[81],"refinement":[82],"in":[83,114],"global":[85],"coordinate":[86],"frame.":[87],"To":[88],"elevate":[89],"of":[92],"subsequent":[93],"localization,":[94],"we":[95],"propose":[96],"egocentric":[98],"factor":[99],"graph":[100],"(EFG)":[101],"module":[102],"that":[103,131],"integrates":[104],"IMU":[106],"preintegration,":[107],"LiDAR":[108],"odometry":[109],"scan":[111,121],"match":[112,122],"joint":[116],"optimization":[117],"manner.":[118],"Specifically,":[119],"constructed":[125],"novel":[128],"propagation":[129],"model":[130],"efficiently":[132],"distributes":[133],"constrains":[136],"as":[137],"edges":[138],"relevant":[141],"nodes,":[144],"weighted":[145],"noises":[147],"based":[148,168],"on":[149,169,189,207],"keyframe":[150],"registration":[151],"errors.":[152],"Additionally,":[153],"supports":[156],"flexible":[157],"switching":[158],"two":[160],"modes:":[161],"relocalization":[162],"(RLM)":[163],"incremental":[165],"(ILM)":[167],"proposed":[171,185],"overlap-based":[172],"mechanism":[173],"select":[175],"or":[176],"update":[177],"from":[181],"session.":[183],"The":[184],"LiLoc":[186],"tested":[188],"public":[190],"custom":[192],"datasets,":[193],"demonstrating":[194],"accurate":[195],"performance":[197],"against":[198],"state-of-the-art":[199],"methods.":[200],"Our":[201],"codes":[202],"will":[203],"be":[204],"publicly":[205],"available":[206],"https://github.com/Yixin-F/LiLoc.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
