{"id":"https://openalex.org/W4401415409","doi":"https://doi.org/10.1109/icra57147.2024.10611195","title":"Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization","display_name":"Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415409","doi":"https://doi.org/10.1109/icra57147.2024.10611195"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611195","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":"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/A5038928126","display_name":"Kenji Koide","orcid":"https://orcid.org/0000-0001-5361-1428"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Koide","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039972852","display_name":"Shuji Oishi","orcid":"https://orcid.org/0000-0002-4872-9699"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuji Oishi","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024900204","display_name":"Masashi Yokozuka","orcid":"https://orcid.org/0000-0001-5716-205X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Yokozuka","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078435846","display_name":"Atsuhiko Banno","orcid":"https://orcid.org/0000-0002-6394-5947"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuhiko Banno","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":15.2535,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.98545289,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1745","last_page":"1751"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sliding-window-protocol","display_name":"Sliding window protocol","score":0.7176857590675354},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.6020318865776062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.528867781162262},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4981229305267334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46393659710884094},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4461440443992615},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.43762892484664917},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.43505704402923584},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39754754304885864},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32495003938674927},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.31660589575767517},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2397061586380005},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13829314708709717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1311272382736206}],"concepts":[{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.7176857590675354},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.6020318865776062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.528867781162262},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4981229305267334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46393659710884094},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4461440443992615},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.43762892484664917},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.43505704402923584},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39754754304885864},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32495003938674927},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.31660589575767517},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2397061586380005},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13829314708709717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1311272382736206},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611195","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W1973876344","https://openalex.org/W1983043788","https://openalex.org/W2140711847","https://openalex.org/W2214788824","https://openalex.org/W2296228853","https://openalex.org/W2336416123","https://openalex.org/W2411093439","https://openalex.org/W2758210595","https://openalex.org/W2909157769","https://openalex.org/W2910489334","https://openalex.org/W2940793188","https://openalex.org/W2981305264","https://openalex.org/W3003178336","https://openalex.org/W3119558773","https://openalex.org/W3133557228","https://openalex.org/W3178901079","https://openalex.org/W3203066970","https://openalex.org/W3205380860","https://openalex.org/W3206845495","https://openalex.org/W4210423514","https://openalex.org/W4213015607","https://openalex.org/W4213432725","https://openalex.org/W4221150082","https://openalex.org/W4225835048","https://openalex.org/W4249866455","https://openalex.org/W4285033252","https://openalex.org/W4292544413","https://openalex.org/W4401413866","https://openalex.org/W6636989855","https://openalex.org/W6912333589"],"related_works":["https://openalex.org/W2109115373","https://openalex.org/W2390901981","https://openalex.org/W2353818951","https://openalex.org/W162456724","https://openalex.org/W1605879311","https://openalex.org/W2354832544","https://openalex.org/W4252544247","https://openalex.org/W2611980620","https://openalex.org/W4230691760","https://openalex.org/W3014558862"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,30,46,75],"range":[4],"inertial":[5],"localization":[6,99],"algorithm":[7,15,85],"for":[8,104],"3D":[10],"prior":[11,108],"map.":[12,76],"The":[13,35],"proposed":[14,116],"tightly":[16],"couples":[17],"scan-to-scan":[18,40],"and":[19,41,53,71,92,95],"scan-to-map":[20,42],"point":[21,68,128],"cloud":[22,69,129],"registration":[23,43],"factors":[24,28,44],"along":[25,142],"with":[26],"IMU":[27,93],"on":[29],"sliding":[31],"window":[32],"factor":[33],"graph.":[34],"tight":[36],"coupling":[37],"of":[38,49,62],"the":[39,63,89,115,127,139,143],"enables":[45],"smooth":[47],"fusion":[48],"sensor":[50,64,82,136,140],"ego-motion":[51],"estimation":[52,84],"map-based":[54],"trajectory":[55],"correction":[56],"that":[57,86,114],"results":[58,112],"in":[59,74,100,122],"robust":[60],"tracking":[61],"pose":[65],"under":[66],"severe":[67,124],"degeneration":[70],"defective":[72],"regions":[73],"We":[77],"also":[78],"propose":[79],"an":[80],"initial":[81],"state":[83,94],"robustly":[87],"estimates":[88],"gravity":[90],"direction":[91],"helps":[96],"perform":[97],"global":[98],"3-":[101],"or":[102,138,146],"4-DoF":[103],"system":[105],"initialization":[106],"without":[107],"position":[109],"information.":[110],"Experimental":[111],"show":[113],"method":[117],"outperforms":[118],"existing":[119],"state-of-the-art":[120],"methods":[121],"extremely":[123],"situations":[125],"where":[126],"data":[130],"becomes":[131],"degenerate,":[132],"there":[133],"are":[134],"momentary":[135],"interruptions,":[137],"moves":[141],"map":[144],"boundary":[145],"into":[147],"unmapped":[148],"regions.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}