{"id":"https://openalex.org/W3176503660","doi":"https://doi.org/10.1109/iros51168.2021.9636038","title":"Adaptive Hyperparameter Tuning for Black-box LiDAR Odometry","display_name":"Adaptive Hyperparameter Tuning for Black-box LiDAR Odometry","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3176503660","doi":"https://doi.org/10.1109/iros51168.2021.9636038","mag":"3176503660"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636038","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636038","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5038928126","display_name":"Kenji Koide","orcid":"https://orcid.org/0000-0001-5361-1428"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kenji Koide","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024900204","display_name":"Masashi Yokozuka","orcid":"https://orcid.org/0000-0001-5716-205X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Yokozuka","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039972852","display_name":"Shuji Oishi","orcid":"https://orcid.org/0000-0002-4872-9699"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuji Oishi","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078435846","display_name":"Atsuhiko Banno","orcid":"https://orcid.org/0000-0002-6394-5947"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuhiko Banno","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038928126"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":0.4172,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.44132754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"7708","last_page":"7714"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9930999875068665,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9897000193595886,"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/odometry","display_name":"Odometry","score":0.8838406205177307},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7277323007583618},{"id":"https://openalex.org/keywords/hyperparameter","display_name":"Hyperparameter","score":0.7254805564880371},{"id":"https://openalex.org/keywords/black-box","display_name":"Black box","score":0.5721765756607056},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5252786874771118},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5089526176452637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4696105420589447},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.46466267108917236},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.44321656227111816},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43447840213775635},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3251795768737793},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13945060968399048},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12268796563148499}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8838406205177307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7277323007583618},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.7254805564880371},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.5721765756607056},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5252786874771118},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5089526176452637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4696105420589447},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.46466267108917236},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.44321656227111816},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43447840213775635},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3251795768737793},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13945060968399048},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12268796563148499},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636038","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636038","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1701879202","https://openalex.org/W2097998348","https://openalex.org/W2106411961","https://openalex.org/W2127045032","https://openalex.org/W2131821152","https://openalex.org/W2160821342","https://openalex.org/W2192203593","https://openalex.org/W2271206385","https://openalex.org/W2411093439","https://openalex.org/W2738207958","https://openalex.org/W2788079077","https://openalex.org/W2805521962","https://openalex.org/W2903155537","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2964014140","https://openalex.org/W2964284859","https://openalex.org/W2982363298","https://openalex.org/W3009321426","https://openalex.org/W3042036888","https://openalex.org/W3206438346","https://openalex.org/W4230697254","https://openalex.org/W4249866455","https://openalex.org/W6637642229","https://openalex.org/W6674385629","https://openalex.org/W6676179485","https://openalex.org/W6748504360"],"related_works":["https://openalex.org/W2140186469","https://openalex.org/W4390421286","https://openalex.org/W4280563792","https://openalex.org/W4389724018","https://openalex.org/W4318719684","https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4318559728","https://openalex.org/W2775233965","https://openalex.org/W4360995913"],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"an":[3,150],"adaptive":[4,25],"data-driven":[5],"hy-perparameter":[6],"tuning":[7,39],"framework":[8,17,99,133,161],"for":[9,38,64],"black-box":[10],"3D":[11],"LiDAR":[12],"odometry":[13,35,139,168],"algorithms.":[14],"The":[15,97],"proposed":[16,98,132,160],"comprises":[18],"offline":[19,30],"parameter-error":[20],"function":[21,57],"modeling":[22],"and":[23,43,45,68,115],"online":[24],"parameter":[26,74,123],"selection.":[27],"In":[28],"the":[29,34,47,50,60,65,73,85,94,106,110,122,128,131,136,153,159,164],"step,":[31],"we":[32,71],"run":[33],"estimation":[36,62,140,169],"algorithm":[37,111],"with":[40,93,144],"different":[41,142],"parameters":[42,67],"environments":[44,143],"evaluate":[46],"accuracy":[48,83,118,137,165],"of":[49,109,130,138,166],"estimated":[51],"trajectories":[52],"to":[53,79,112],"build":[54],"a":[55,145],"surrogate":[56,95],"that":[58,76,158],"predicts":[59],"trajectory":[61,90],"error":[63,91],"given":[66,86],"environments.":[69],"Subsequently,":[70],"select":[72],"set":[75],"is":[77],"expected":[78],"result":[80],"in":[81,84,134,171],"good":[82],"environment":[87],"based":[88],"on":[89,105,152],"prediction":[92],"function.":[96],"does":[100],"not":[101],"require":[102],"detailed":[103],"information":[104],"inner":[107],"working":[108],"be":[113],"tuned,":[114],"improves":[116],"its":[117],"by":[119],"adaptively":[120],"optimizing":[121],"set.":[124],"We":[125],"first":[126],"demonstrate":[127],"role":[129],"improving":[135],"across":[141],"simulation-based":[146],"toy":[147],"example.":[148],"Further,":[149],"evaluation":[151],"public":[154],"dataset":[155],"KITTI":[156],"shows":[157],"can":[162],"improve":[163],"several":[167],"algorithms":[170],"practical":[172],"situations.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}