{"id":"https://openalex.org/W4405304640","doi":"https://doi.org/10.1109/ipin62893.2024.10786171","title":"Plane-based Loop Correction for LiDAR Inertial SLAM","display_name":"Plane-based Loop Correction for LiDAR Inertial SLAM","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405304640","doi":"https://doi.org/10.1109/ipin62893.2024.10786171"},"language":"en","primary_location":{"id":"doi:10.1109/ipin62893.2024.10786171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin62893.2024.10786171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)","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/A5038946866","display_name":"W. D. Li","orcid":"https://orcid.org/0009-0008-5137-3268"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wangfang Li","raw_affiliation_strings":["Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100526372","display_name":"Yi Sun","orcid":"https://orcid.org/0009-0003-0397-9103"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Sun","raw_affiliation_strings":["Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101482940","display_name":"Long Zhao","orcid":"https://orcid.org/0009-0009-0332-0214"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Zhao","raw_affiliation_strings":["Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32710478,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9873999953269958,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9843000173568726,"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/lidar","display_name":"Lidar","score":0.6980822682380676},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6717128753662109},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.6543930172920227},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5254829525947571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5221058130264282},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4492097795009613},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.3540310263633728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34081894159317017},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33465251326560974},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3023707866668701},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2203550636768341},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20236948132514954},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.200181782245636},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1398472785949707},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09841388463973999},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06622573733329773}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6980822682380676},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6717128753662109},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6543930172920227},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5254829525947571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5221058130264282},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4492097795009613},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.3540310263633728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34081894159317017},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33465251326560974},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3023707866668701},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2203550636768341},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20236948132514954},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.200181782245636},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1398472785949707},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09841388463973999},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06622573733329773},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"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/ipin62893.2024.10786171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin62893.2024.10786171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4099999964237213}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1972485825","https://openalex.org/W1988322066","https://openalex.org/W2049981393","https://openalex.org/W2081941219","https://openalex.org/W2130763585","https://openalex.org/W2144491133","https://openalex.org/W2160821342","https://openalex.org/W2482726005","https://openalex.org/W2902610326","https://openalex.org/W2910489334","https://openalex.org/W3039808820","https://openalex.org/W3174270524","https://openalex.org/W4210423514","https://openalex.org/W4249866455","https://openalex.org/W4309591753","https://openalex.org/W4312226124","https://openalex.org/W4383066341","https://openalex.org/W4394820411"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"LiDAR-based":[0],"simultaneous":[1],"localization":[2],"and":[3,12,84,105],"mapping":[4,32],"(SLAM)":[5],"exhibits":[6],"excellent":[7],"performance":[8],"in":[9,31],"indoor":[10],"environments":[11],"is":[13,36,57,75],"used":[14],"to":[15,22,49,60,77,91,94,124],"various":[16],"aspects":[17],"of":[18],"robotic":[19],"applications.":[20],"Due":[21],"the":[23,86,89,95,126],"inevitable":[24],"odometry":[25],"drift,":[26],"map":[27,62,101],"inconsistency":[28,63,102],"always":[29],"exists":[30],"process.":[33],"This":[34],"issue":[35],"often":[37],"addressed":[38],"by":[39],"loop":[40,44,71,139],"correction,":[41],"however,":[42],"most":[43],"correction":[45],"method":[46,73,130],"build":[47],"pose":[48,50,120],"constraint":[51],"based":[52],"on":[53],"appearance":[54],"similarity,":[55],"which":[56],"not":[58],"able":[59,76],"detect":[61],"with":[64,113,136],"small":[65],"overlap":[66],"area.We":[67],"proposed":[68,129],"a":[69],"plane-based":[70],"detection":[72,140],"that":[74],"establish":[78],"long-term":[79],"association":[80],"between":[81,103],"plane":[82,115],"feature":[83],"correct":[85,125],"drift":[87],"without":[88],"need":[90],"go":[92],"back":[93],"same":[96],"position.":[97],"First,":[98],"we":[99,109,118],"identify":[100],"submap":[104],"global":[106],"map.":[107],"Then,":[108],"estimate":[110],"relative":[111],"transformation":[112],"revisited":[114],"features.":[116],"Then":[117],"utilize":[119],"graph":[121],"optimization":[122],"(PGO)":[123],"trajectory.":[127],"Our":[128],"has":[131],"shown":[132],"outstanding":[133],"results":[134],"compared":[135],"other":[137],"state-of-the-art":[138],"methods.":[141]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}