{"id":"https://openalex.org/W4312571988","doi":"https://doi.org/10.1109/iros47612.2022.9982225","title":"Robust Real-time LiDAR-inertial Initialization","display_name":"Robust Real-time LiDAR-inertial Initialization","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312571988","doi":"https://doi.org/10.1109/iros47612.2022.9982225"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982225","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":"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/A5065969871","display_name":"Fangcheng Zhu","orcid":"https://orcid.org/0000-0001-7999-6784"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Fangcheng Zhu","raw_affiliation_strings":["University of Hong Kong,Department of Mechanical Engineering","Department of Mechanical Engineering, University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"University of Hong Kong,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007359603","display_name":"Yunfan Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunfan Ren","raw_affiliation_strings":["University of Hong Kong,Department of Mechanical Engineering","Department of Mechanical Engineering, University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"University of Hong Kong,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["University of Hong Kong,Department of Mechanical Engineering","Department of Mechanical Engineering, University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"University of Hong Kong,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065969871"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":25.4631,"has_fulltext":false,"cited_by_count":82,"citation_normalized_percentile":{"value":0.99764409,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3948","last_page":"3955"},"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":0.9975000023841858,"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":0.996399998664856,"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/odometry","display_name":"Odometry","score":0.9070299863815308},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8899139761924744},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.832056999206543},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8187352418899536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6927745342254639},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5539004802703857},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5376563668251038},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5112044811248779},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5069349408149719},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3736858665943146},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36754071712493896},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3340660631656647},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17513969540596008},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09499967098236084},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08351188898086548},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07722878456115723}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9070299863815308},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8899139761924744},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.832056999206543},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8187352418899536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6927745342254639},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5539004802703857},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5376563668251038},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5112044811248779},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5069349408149719},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3736858665943146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36754071712493896},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3340660631656647},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17513969540596008},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09499967098236084},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08351188898086548},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07722878456115723},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9982225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982225","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"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-158946","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-158946","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1575087183","https://openalex.org/W1968917201","https://openalex.org/W2006169361","https://openalex.org/W2030463924","https://openalex.org/W2116987651","https://openalex.org/W2482726005","https://openalex.org/W2538522345","https://openalex.org/W2754177129","https://openalex.org/W2773447888","https://openalex.org/W2887564721","https://openalex.org/W2890376682","https://openalex.org/W3089503906","https://openalex.org/W3091486995","https://openalex.org/W3092844828","https://openalex.org/W3095662029","https://openalex.org/W3125449081","https://openalex.org/W3127103128","https://openalex.org/W3129245057","https://openalex.org/W3130081760","https://openalex.org/W3133648073","https://openalex.org/W3133767727","https://openalex.org/W3181051035","https://openalex.org/W3199184510","https://openalex.org/W3211563383","https://openalex.org/W4206211616","https://openalex.org/W4210423514","https://openalex.org/W4313049632"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W4389665464","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4385894109","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W4247347568"],"abstract_inverted_index":{"For":[0],"most":[1],"LiDAR-inertial":[2,38,50,131,142,158,184],"odometry,":[3],"accurate":[4],"initial":[5,126],"states,":[6],"including":[7],"temporal":[8,57,112],"offset":[9,58],"and":[10,15,22,48,59,64,66,71,108,117,141,148,162,178],"extrinsic":[11,60],"transfor-mation":[12],"between":[13,62],"LiDAR":[14,80],"6-axis":[16],"IMUs,":[17,65],"play":[18],"a":[19,46,182],"significant":[20],"role":[21],"are":[23,121,165],"often":[24],"considered":[25],"as":[26,92,124],"prerequisites.":[27],"However,":[28],"such":[29],"information":[30],"may":[31],"not":[32],"be":[33],"always":[34],"available":[35],"in":[36],"customized":[37],"systems.":[39,133],"In":[40],"this":[41],"paper,":[42],"we":[43],"propose":[44],"LI-Init:":[45],"full":[47],"real-time":[49,130],"system":[51,186],"initialization":[52,94,152,159],"process":[53],"that":[54,83],"calibrates":[55],"the":[56,68,76,89,100,105,111,145],"parameter":[61],"LiDARs":[63,140],"also":[67,179],"gravity":[69,115],"vector":[70],"IMU":[72,118,176],"bias":[73],"by":[74,85],"aligning":[75],"state":[77,127],"estimated":[78],"from":[79],"measurements":[81],"with":[82,136],"measured":[84],"IMU.":[86],"We":[87],"implement":[88],"proposed":[90],"method":[91],"an":[93],"module,":[95],"which":[96,120],"can":[97],"automatically":[98],"detects":[99],"degree":[101],"of":[102,104,139,150,156],"excitation":[103],"collected":[106],"data":[107,164],"calibrate,":[109],"on-the-fly,":[110],"offset,":[113],"extrinsic,":[114],"vector,":[116],"bias,":[119],"then":[122],"used":[123],"high-quality":[125],"values":[128],"for":[129],"odometry":[132,185],"Experiments":[134],"conducted":[135],"different":[137],"types":[138],"combinations":[143],"show":[144],"robustness,":[146],"adaptability":[147],"efficiency":[149],"our":[151,157],"method.":[153],"The":[154],"implementation":[155],"procedure":[160],"LI-Init":[161],"test":[163],"open-sourced":[166],"on":[167],"Github":[168],"<sup":[169,172],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[170,173],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[171,174],"https://www.github.com/hku-mars/LiDAR":[175],"Init":[177],"integrated":[180],"into":[181],"state-of-the-art":[183],"FAST-LIO2.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}