{"id":"https://openalex.org/W4401415917","doi":"https://doi.org/10.1109/icra57147.2024.10610938","title":"COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry","display_name":"COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415917","doi":"https://doi.org/10.1109/icra57147.2024.10610938"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610938","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5070013986","display_name":"Patrick Pfreundschuh","orcid":"https://orcid.org/0000-0002-4127-8119"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Patrick Pfreundschuh","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050090757","display_name":"Helen Oleynikova","orcid":"https://orcid.org/0000-0002-1831-2315"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Helen Oleynikova","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014501729","display_name":"Olov Andersson","orcid":"https://orcid.org/0000-0001-7248-1112"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Olov Andersson","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1730","last_page":"1737"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.9335190057754517},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.689045786857605},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5825942158699036},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5136646628379822},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.44965434074401855},{"id":"https://openalex.org/keywords/intensity","display_name":"Intensity (physics)","score":0.4464699625968933},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4336436986923218},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3853170871734619},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3521748185157776},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.23532232642173767},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2024030089378357},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17506101727485657},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.14825865626335144},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12121185660362244}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9335190057754517},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.689045786857605},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5825942158699036},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5136646628379822},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.44965434074401855},{"id":"https://openalex.org/C93038891","wikidata":"https://www.wikidata.org/wiki/Q1061524","display_name":"Intensity (physics)","level":2,"score":0.4464699625968933},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4336436986923218},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3853170871734619},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3521748185157776},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.23532232642173767},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2024030089378357},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17506101727485657},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.14825865626335144},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12121185660362244},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610938","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2033168326","https://openalex.org/W2111308925","https://openalex.org/W2146236171","https://openalex.org/W2154459632","https://openalex.org/W2266469970","https://openalex.org/W2296228853","https://openalex.org/W2467214650","https://openalex.org/W2474281075","https://openalex.org/W2564632156","https://openalex.org/W2746349752","https://openalex.org/W2888422218","https://openalex.org/W3044549235","https://openalex.org/W3127368595","https://openalex.org/W3129245057","https://openalex.org/W3132323429","https://openalex.org/W3132394694","https://openalex.org/W3133648073","https://openalex.org/W3174936503","https://openalex.org/W3178901079","https://openalex.org/W3199184510","https://openalex.org/W3207826836","https://openalex.org/W4210423514","https://openalex.org/W4226070730","https://openalex.org/W4285200012","https://openalex.org/W4285257801","https://openalex.org/W4312260963","https://openalex.org/W4313471252","https://openalex.org/W4315778466","https://openalex.org/W4319663799","https://openalex.org/W4383108920","https://openalex.org/W4388983935","https://openalex.org/W6797028334","https://openalex.org/W6810916989"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W4313854656","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2382856674"],"abstract_inverted_index":{"We":[0,42,74,138],"present":[1,51],"COIN-LIO,":[2],"a":[3,52,135,141],"LiDAR":[4,13,44],"Inertial":[5],"Odometry":[6],"pipeline":[7,56],"that":[8,57,88,144],"tightly":[9],"couples":[10],"information":[11],"from":[12],"intensity":[14,45,77],"with":[15,61,101,115],"geometry-based":[16],"point":[17,94],"cloud":[18,95],"registration.":[19],"The":[20,127],"focus":[21],"of":[22,30],"our":[23,83,160],"work":[24],"is":[25,112],"to":[26],"improve":[27],"the":[28,66,93,109,156],"robustness":[29,133,165],"LiDAR-inertial":[31],"odometry":[32],"in":[33,92,108,121,149,169],"geometrically":[34,151],"degenerate":[35,152],"scenarios,":[36],"like":[37],"tunnels":[38],"or":[39],"flat":[40],"fields.":[41],"project":[43],"returns":[46],"into":[47],"an":[48,79,122],"image,":[49],"and":[50,97,118,132],"novel":[53],"image":[54,67,103,110],"processing":[55],"produces":[58],"filtered":[59],"images":[60],"improved":[62,164],"brightness":[63],"consistency":[64],"within":[65],"as":[68,70,78],"well":[69],"across":[71],"different":[72],"scenes.":[73,153],"effectively":[75],"leverage":[76],"additional":[80,157],"modality,":[81],"using":[82,155],"new":[84,142],"feature":[85],"selection":[86],"scheme":[87],"detects":[89],"uninformative":[90],"directions":[91],"registration":[96,120],"explicitly":[98],"selects":[99],"patches":[100,111],"complementary":[102],"information.":[104],"Photometric":[105],"error":[106],"minimization":[107],"then":[113],"fused":[114],"inertial":[116],"measurements":[117],"point-to-plane":[119],"iterated":[123],"Extended":[124],"Kalman":[125],"Filter.":[126],"proposed":[128],"approach":[129,161],"improves":[130],"accuracy":[131],"on":[134],"public":[136],"dataset.":[137],"additionally":[139],"publish":[140],"dataset,":[143],"captures":[145],"five":[146],"real-world":[147],"environments":[148,170],"challenging,":[150],"By":[154],"photometric":[158],"information,":[159],"shows":[162],"drastically":[163],"against":[166],"geometric":[167],"degeneracy":[168],"where":[171],"all":[172],"compared":[173],"baseline":[174],"approaches":[175],"fail.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}