{"id":"https://openalex.org/W3003659795","doi":"https://doi.org/10.1109/iros40897.2019.8968012","title":"Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping","display_name":"Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003659795","doi":"https://doi.org/10.1109/iros40897.2019.8968012","mag":"3003659795"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968012","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5004591156","display_name":"Weizhao Shao","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weizhao Shao","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005341009","display_name":"Srinivasan Vijayarangan","orcid":"https://orcid.org/0000-0001-5078-5836"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srinivasan Vijayarangan","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331579","display_name":"Cong Li","orcid":"https://orcid.org/0000-0002-2518-4913"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cong Li","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":90.1705,"has_fulltext":false,"cited_by_count":120,"citation_normalized_percentile":{"value":0.99878303,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"370","last_page":"377"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.9133535623550415},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8155233860015869},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7775115966796875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7742395401000977},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7512452602386475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7109482288360596},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5645976662635803},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4817952513694763},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4151901304721832},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.41403210163116455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36625009775161743},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34777653217315674},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33766642212867737},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2032957375049591}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9133535623550415},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8155233860015869},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7775115966796875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7742395401000977},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7512452602386475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7109482288360596},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5645976662635803},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4817952513694763},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4151901304721832},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.41403210163116455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36625009775161743},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34777653217315674},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33766642212867737},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2032957375049591},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968012","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4399999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1565206031","https://openalex.org/W1649787319","https://openalex.org/W1953793983","https://openalex.org/W1970504153","https://openalex.org/W1975713381","https://openalex.org/W1989484209","https://openalex.org/W1991544872","https://openalex.org/W1995443731","https://openalex.org/W2006368361","https://openalex.org/W2017489593","https://openalex.org/W2021851106","https://openalex.org/W2049750053","https://openalex.org/W2049981393","https://openalex.org/W2080486046","https://openalex.org/W2091790851","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2127752689","https://openalex.org/W2130103520","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2154459632","https://openalex.org/W2182229738","https://openalex.org/W2214788824","https://openalex.org/W2216550548","https://openalex.org/W2217443765","https://openalex.org/W2274359774","https://openalex.org/W2296228853","https://openalex.org/W2396274919","https://openalex.org/W2411412724","https://openalex.org/W2414309118","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2527172881","https://openalex.org/W2739423245","https://openalex.org/W2745859992","https://openalex.org/W2754297741","https://openalex.org/W2883702102","https://openalex.org/W2888422218","https://openalex.org/W2909990436","https://openalex.org/W2962987986","https://openalex.org/W2963600667","https://openalex.org/W3099455272","https://openalex.org/W3124420883","https://openalex.org/W4246483956","https://openalex.org/W4246614213","https://openalex.org/W4285719527","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4212966960","https://openalex.org/W4391249506","https://openalex.org/W3196708299","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W3126674423"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,11,31,67,89,105,116],"Mapping":[3],"(SLAM)":[4],"is":[5],"a":[6,50],"fundamental":[7],"task":[8],"to":[9,19,23,28,119],"mobile":[10],"aerial":[12],"robotics.":[13],"LiDAR":[14,39,57,87,90,101,121],"based":[15,25,40],"systems":[16,26,41],"have":[17],"proven":[18],"be":[20],"superior":[21],"compared":[22,118],"vision":[24],"due":[27],"its":[29,36],"accuracy":[30,115],"robustness.":[32],"In":[33],"spite":[34],"of":[35],"superiority,":[37],"pure":[38],"fail":[42],"in":[43,103],"certain":[44],"degenerate":[45,65],"cases":[46,66],"like":[47],"traveling":[48],"through":[49],"tunnel.":[51],"We":[52],"propose":[53],"Stereo":[54],"Visual":[55],"Inertial":[56],"(VIL)":[58],"SLAM":[59],"that":[60],"performs":[61],"better":[62],"on":[63,71],"these":[64],"has":[68],"comparable":[69],"performance":[70],"all":[72],"other":[73],"cases.":[74],"VIL-SLAM":[75,112],"accomplishes":[76],"this":[77],"by":[78],"incorporating":[79],"tightly-coupled":[80],"stereo":[81],"visual":[82,92],"inertial":[83],"odometry":[84],"(VIO)":[85],"with":[86],"mapping":[88],"enhanced":[91],"loop":[93],"closure.":[94],"The":[95],"system":[96],"generates":[97],"loop-closure":[98],"corrected":[99],"6-DOF":[100],"poses":[102],"real-time":[104],"lcm":[106],"voxel":[107],"dense":[108],"maps":[109],"near":[110],"real-time.":[111],"demonstrates":[113],"improved":[114],"robustness":[117],"state-of-the-art":[120],"methods.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":30},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}