{"id":"https://openalex.org/W4312776746","doi":"https://doi.org/10.1109/iros47612.2022.9981566","title":"PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-based SLAM","display_name":"PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-based SLAM","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312776746","doi":"https://doi.org/10.1109/iros47612.2022.9981566"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981566","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5066206169","display_name":"Yifan Duan","orcid":"https://orcid.org/0009-0004-0754-3953"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Duan","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068172501","display_name":"Jie Peng","orcid":"https://orcid.org/0000-0002-2874-4744"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Peng","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433372","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0001-5728-7645"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061104105","display_name":"Jianmin Ji","orcid":"https://orcid.org/0000-0002-1515-0402"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianmin Ji","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103041851","display_name":"Yanyong Zhang","orcid":"https://orcid.org/0000-0001-9046-798X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanyong Zhang","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11087","last_page":"11093"},"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":0.9951000213623047,"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":0.9937999844551086,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7749844193458557},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7584258913993835},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7245314121246338},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.7192459106445312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7119322419166565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7088689804077148},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6955151557922363},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6910097002983093},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.574114978313446},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5151154398918152},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5017552375793457},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4665980339050293},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4621053636074066},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4187832772731781},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.41427043080329895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3553612232208252},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.22483816742897034},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16056889295578003},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11591628193855286}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7749844193458557},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7584258913993835},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7245314121246338},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.7192459106445312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7119322419166565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7088689804077148},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6955151557922363},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6910097002983093},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.574114978313446},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5151154398918152},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5017552375793457},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4665980339050293},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4621053636074066},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4187832772731781},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.41427043080329895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3553612232208252},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.22483816742897034},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16056889295578003},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11591628193855286},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981566","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1973080743","https://openalex.org/W2049981393","https://openalex.org/W2150066425","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2909908358","https://openalex.org/W2963600667","https://openalex.org/W2998184591","https://openalex.org/W3089501578","https://openalex.org/W3089503906","https://openalex.org/W3090923812","https://openalex.org/W3095662029","https://openalex.org/W3124420883","https://openalex.org/W3135301258","https://openalex.org/W3173112500","https://openalex.org/W3200279935","https://openalex.org/W3205084628","https://openalex.org/W3207701335","https://openalex.org/W3207826836","https://openalex.org/W3209905867","https://openalex.org/W3210431654","https://openalex.org/W3211157051","https://openalex.org/W3214192663","https://openalex.org/W4205574455","https://openalex.org/W4214717370","https://openalex.org/W6791205910","https://openalex.org/W6801050691","https://openalex.org/W6803954303"],"related_works":["https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2149015029","https://openalex.org/W2152464524","https://openalex.org/W3161266721","https://openalex.org/W48401697","https://openalex.org/W2540189345","https://openalex.org/W2379763979"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1,27],"and":[2,16,42,81,114,140],"mapping":[3],"(SLAM)":[4],"based":[5],"on":[6,118,148],"laser":[7],"sensors":[8],"has":[9,56],"been":[10,57],"widely":[11],"adopted":[12],"by":[13,146,165],"mobile":[14],"robots":[15],"autonomous":[17],"vehicles.":[18],"These":[19],"SLAM":[20],"systems":[21],"are":[22],"required":[23],"to":[24,97],"support":[25],"accurate":[26],"with":[28],"limited":[29],"computational":[30],"resources.":[31],"In":[32,65,157],"particular,":[33],"point":[34],"cloud":[35],"registration,":[36],"i.e.,":[37],"the":[38,60,89,98,107,119,133,136,158,163],"process":[39],"of":[40,132],"matching":[41],"aligning":[43],"multiple":[44,49],"LiDAR":[45,110],"scans":[46],"collected":[47],"at":[48],"locations":[50],"in":[51,63,135,144],"a":[52,70],"global":[53],"coordinate":[54],"framework,":[55,112],"deemed":[58],"as":[59],"bottleneck":[61],"step":[62],"SLAM.":[64],"this":[66,86],"paper,":[67],"we":[68,161],"propose":[69],"feature":[71,101,138,142],"filtering":[72],"algorithm,":[73],"PFilter,":[74],"that":[75,126],"can":[76,82,128],"filter":[77],"out":[78],"invalid":[79],"features":[80],"thus":[83],"greatly":[84],"alleviate":[85],"bottleneck.":[87],"Meanwhile,":[88],"overall":[90],"registration":[91],"accuracy":[92,164],"is":[93],"also":[94],"improved":[95],"due":[96],"carefully":[99],"curated":[100],"points.":[102],"We":[103],"integrate":[104],"PFilter":[105,127],"into":[106],"well-established":[108],"scan-to-map":[109],"odometry":[111],"F-LOAM,":[113],"evaluate":[115],"its":[116],"performance":[117],"KITTI":[120],"dataset.":[121],"The":[122],"experimental":[123],"results":[124],"show":[125],"remove":[129],"about":[130],"48.4%":[131],"points":[134,143],"local":[137],"map":[139],"reduce":[141],"scan":[145],"19.3%":[147],"average,":[149],"which":[150],"save":[151],"20.9%":[152],"processing":[153],"time":[154],"per":[155],"frame.":[156],"mean":[159],"time,":[160],"improve":[162],"9.4%.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":7}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
