{"id":"https://openalex.org/W4200013945","doi":"https://doi.org/10.1109/iros51168.2021.9636232","title":"GR-Fusion: Multi-sensor Fusion SLAM for Ground Robots with High Robustness and Low Drift","display_name":"GR-Fusion: Multi-sensor Fusion SLAM for Ground Robots with High Robustness and Low Drift","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200013945","doi":"https://doi.org/10.1109/iros51168.2021.9636232"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636232","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/A5112109933","display_name":"Ting Wang","orcid":"https://orcid.org/0000-0001-9553-5232"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ting Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079654694","display_name":"Yun Su","orcid":"https://orcid.org/0000-0003-0217-4373"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Su","raw_affiliation_strings":["Guangzhou Shiyuan Electronic Technology Company Limited, Guangzhou, China","State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Shiyuan Electronic Technology Company Limited, Guangzhou, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427939","display_name":"Shiliang Shao","orcid":"https://orcid.org/0000-0002-4512-167X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiliang Shao","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100761070","display_name":"Chen Yao","orcid":"https://orcid.org/0009-0004-2383-8217"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Yao","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100756467","display_name":"Zhidong Wang","orcid":"https://orcid.org/0000-0001-7136-3341"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhidong Wang","raw_affiliation_strings":["Chiba Institute of Technology, Chiba, Japan"],"affiliations":[{"raw_affiliation_string":"Chiba Institute of Technology, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112109933"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":5.8402,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.97629395,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5440","last_page":"5447"},"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":0.9950000047683716,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7621835470199585},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7390736937522888},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.727717399597168},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7013670206069946},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6848005056381226},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6749004125595093},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6611452102661133},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6166597008705139},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5449950695037842},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4973905384540558},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.49600133299827576},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.49261242151260376},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.48324570059776306},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.47248879075050354},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.43909239768981934},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3697968125343323},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.31246528029441833},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17937466502189636},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.17534354329109192}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7621835470199585},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7390736937522888},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.727717399597168},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7013670206069946},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6848005056381226},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6749004125595093},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6611452102661133},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6166597008705139},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5449950695037842},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4973905384540558},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.49600133299827576},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.49261242151260376},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.48324570059776306},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.47248879075050354},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.43909239768981934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3697968125343323},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.31246528029441833},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17937466502189636},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.17534354329109192},{"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},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/iros51168.2021.9636232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636232","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":[{"display_name":"Sustainable cities and communities","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W2091790851","https://openalex.org/W2277848489","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2886968365","https://openalex.org/W2888422218","https://openalex.org/W2891031479","https://openalex.org/W2909063396","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2968618084","https://openalex.org/W3003659795","https://openalex.org/W3004334518","https://openalex.org/W3011465262","https://openalex.org/W3100687815","https://openalex.org/W3102327032","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3132323429","https://openalex.org/W3132919786","https://openalex.org/W3165610079","https://openalex.org/W6758162286","https://openalex.org/W6767654856","https://openalex.org/W6795742097"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W3153542184","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,25,77,152],"tightly":[4,60,111],"coupled":[5,61,112],"pipeline,":[6],"which":[7],"efficiently":[8],"fuses":[9],"measurements":[10],"of":[11,33,65,76,178],"LiDAR,":[12],"camera,":[13],"IMU,":[14],"encoder,":[15],"and":[16,23,44,56,59,68,96,100,110,118,144,163,166,180],"GNSS":[17,114],"to":[18,71,85,122],"estimate":[19],"the":[20,40,51,62,66,69,73,81,87,93,103,113,125,134,138,147,169],"robot":[21],"state":[22,74,128],"build":[24],"map":[26],"even":[27],"in":[28,92,160,176],"challenging":[29],"situations.":[30],"The":[31],"depth":[32],"visual":[34,54],"features":[35,55,58,91,109,132],"is":[36],"extracted":[37],"by":[38,129],"projecting":[39],"LiDAR":[41,57,131],"point":[42],"cloud":[43],"ground":[45,120,154],"plane":[46],"into":[47],"image.":[48],"We":[49,79],"select":[50],"tracked":[52],"high-quality":[53],"pre-integrated":[63],"values":[64],"IMU":[67],"encoder":[70],"optimize":[72],"increment":[75,116],"robot.":[78],"use":[80,107],"estimated":[82],"relative":[83],"pose":[84],"re-evaluate":[86],"matching":[88],"distance":[89],"between":[90],"local":[94,119],"window":[95],"remove":[97],"dynamic":[98],"objects":[99],"outliers.":[101],"In":[102],"mapping":[104],"node,":[105],"we":[106,156],"refined":[108],"measurements,":[115],"factors,":[117],"constraints":[121],"further":[123],"refine":[124],"robot\u2019s":[126],"global":[127,135],"aligning":[130],"with":[133],"map.":[136],"Furthermore,":[137],"method":[139],"can":[140],"detect":[141],"sensor":[142],"degradation":[143],"automatically":[145],"reconfigure":[146],"optimization":[148],"process.":[149],"Based":[150],"on":[151],"six-wheeled":[153],"robot,":[155],"perform":[157],"extensive":[158],"experiments":[159],"both":[161],"indoor":[162],"outdoor":[164],"environments":[165],"demonstrated":[167],"that":[168],"proposed":[170],"GR-Fusion":[171],"outperforms":[172],"state-of-the-art":[173],"SLAM":[174],"methods":[175],"terms":[177],"accuracy":[179],"robustness.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
