{"id":"https://openalex.org/W2964307318","doi":"https://doi.org/10.1109/iros.2018.8593846","title":"Laser Map Aided Visual Inertial Localization in Changing Environment","display_name":"Laser Map Aided Visual Inertial Localization in Changing Environment","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2964307318","doi":"https://doi.org/10.1109/iros.2018.8593846","mag":"2964307318"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5088639775","display_name":"Xiaqing Ding","orcid":"https://orcid.org/0000-0001-7802-0130"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiaqing Ding","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054790380","display_name":"Dongxuan Li","orcid":"https://orcid.org/0000-0001-5504-8296"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dongxuan Li","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100725459","display_name":"Li Tang","orcid":"https://orcid.org/0000-0003-2590-6872"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li Tang","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024862094","display_name":"Huan Yin","orcid":"https://orcid.org/0000-0002-0872-8202"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huan Yin","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5088639775"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.6462,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.98242732,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4794","last_page":"4801"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9984999895095825,"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":0.9973999857902527,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7078429460525513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6462328433990479},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6289553046226501},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.6173098683357239},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6034287214279175},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.5608721375465393},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5172730088233948},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.4979250431060791},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.46239030361175537},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4611656069755554},{"id":"https://openalex.org/keywords/crossmodal","display_name":"Crossmodal","score":0.44066178798675537},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.42230498790740967},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.18165898323059082},{"id":"https://openalex.org/keywords/visual-perception","display_name":"Visual perception","score":0.17311084270477295},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16017085313796997},{"id":"https://openalex.org/keywords/photogrammetry","display_name":"Photogrammetry","score":0.12007588148117065},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11098697781562805},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07730349898338318},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07446491718292236}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7078429460525513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462328433990479},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6289553046226501},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.6173098683357239},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6034287214279175},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.5608721375465393},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5172730088233948},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.4979250431060791},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.46239030361175537},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4611656069755554},{"id":"https://openalex.org/C60115397","wikidata":"https://www.wikidata.org/wiki/Q5188732","display_name":"Crossmodal","level":4,"score":0.44066178798675537},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.42230498790740967},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.18165898323059082},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.17311084270477295},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16017085313796997},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.12007588148117065},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11098697781562805},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07730349898338318},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07446491718292236},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8593846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-117481","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-117481","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"pmh:oai:repository.ust.hk:1783.1-117481","is_oa":false,"landing_page_url":"http://www.scopus.com/record/display.url?eid=2-s2.0-85062993375&origin=inward","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1518680072","https://openalex.org/W1612997784","https://openalex.org/W1953793983","https://openalex.org/W1973080743","https://openalex.org/W1981699551","https://openalex.org/W1989484209","https://openalex.org/W2003919215","https://openalex.org/W2054969198","https://openalex.org/W2063053370","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2144933759","https://openalex.org/W2168628149","https://openalex.org/W2200124539","https://openalex.org/W2268461703","https://openalex.org/W2274359774","https://openalex.org/W2278591674","https://openalex.org/W2319876836","https://openalex.org/W2461937780","https://openalex.org/W2482726005","https://openalex.org/W2524199941","https://openalex.org/W2538522345","https://openalex.org/W2539697279","https://openalex.org/W2566688177","https://openalex.org/W2567328166","https://openalex.org/W2739423245","https://openalex.org/W2770176163","https://openalex.org/W2772641132","https://openalex.org/W3029645440","https://openalex.org/W3103648783","https://openalex.org/W3105489439","https://openalex.org/W3124420883","https://openalex.org/W3125449081","https://openalex.org/W4249866455","https://openalex.org/W4293775970","https://openalex.org/W6700041500","https://openalex.org/W6727208275"],"related_works":["https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524","https://openalex.org/W2081798451","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"Long-term":[0],"visual":[1,27,77,97,107],"localization":[2,29,139],"in":[3,120,126],"outdoor":[4],"environment":[5],"is":[6,51,91],"a":[7,25,46],"challenging":[8],"problem,":[9],"especially":[10],"faced":[11],"with":[12,60],"the":[13,34,39,43,55,58,63,71,75,88,101,111,114,130,149,152],"cross-seasonal,":[14],"bi-directional":[15],"tasks":[16],"and":[17,96,103,132,147,156],"changing":[18],"environment.":[19],"In":[20,135],"this":[21],"paper":[22],"we":[23,117],"propose":[24],"novel":[26],"inertial":[28,78],"framework":[30,50],"that":[31],"localizes":[32],"against":[33],"LiDAR-built":[35],"map.":[36],"Based":[37],"on":[38],"geometry":[40],"information":[41],"of":[42,57,74,113,123,138,151],"laser":[44,65,89,95],"map,":[45],"hybrid":[47,153],"bundle":[48,154],"adjustment":[49,155],"proposed,":[52],"which":[53],"estimates":[54],"poses":[56],"cameras":[59],"respect":[61],"to":[62,99],"prior":[64],"map":[66,90,157],"as":[67,69],"well":[68],"optimizes":[70],"state":[72],"variables":[73],"online":[76],"odometry":[79],"system":[80],"simultaneously.":[81],"For":[82],"more":[83],"accurate":[84],"crossmodal":[85],"data":[86,98,119],"association,":[87],"optimized":[92],"using":[93],"multisession":[94],"extract":[100],"salient":[102],"stable":[104],"subset":[105],"for":[106],"localization.":[108],"To":[109],"validate":[110],"efficiency":[112],"proposed":[115,142],"method,":[116],"collect":[118],"south":[121],"part":[122],"our":[124,141],"campus":[125],"different":[127],"seasons,":[128],"along":[129],"same":[131],"opposite-direction":[133],"route.":[134],"all":[136],"sessions":[137],"data,":[140],"method":[143],"gives":[144],"satisfactory":[145],"results,":[146],"shows":[148],"superiority":[150],"optimization":[158],"<sup":[159],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[160],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[161],".":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}