{"id":"https://openalex.org/W4200420057","doi":"https://doi.org/10.1109/iros51168.2021.9636348","title":"What\u2019s in My LiDAR Odometry Toolbox?","display_name":"What\u2019s in My LiDAR Odometry Toolbox?","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200420057","doi":"https://doi.org/10.1109/iros51168.2021.9636348"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636348","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/A5081764824","display_name":"Pierre Dellenbach","orcid":null},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Pierre Dellenbach","raw_affiliation_strings":["Computer Vision Team, Kitware, Villeurbanne, France","MINES ParisTech, PSL University, Paris, France"],"affiliations":[{"raw_affiliation_string":"Computer Vision Team, Kitware, Villeurbanne, France","institution_ids":[]},{"raw_affiliation_string":"MINES ParisTech, PSL University, Paris, France","institution_ids":["https://openalex.org/I70768539","https://openalex.org/I2746051580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064543212","display_name":"Jean\u2010Emmanuel Deschaud","orcid":"https://orcid.org/0000-0002-6696-9354"},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Emmanuel Deschaud","raw_affiliation_strings":["MINES ParisTech, PSL University, Paris, France"],"affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL University, Paris, France","institution_ids":["https://openalex.org/I70768539","https://openalex.org/I2746051580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081151643","display_name":"Bastien Jacquet","orcid":"https://orcid.org/0000-0003-2860-3850"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bastien Jacquet","raw_affiliation_strings":["Computer Vision Team, Kitware, Villeurbanne, France"],"affiliations":[{"raw_affiliation_string":"Computer Vision Team, Kitware, Villeurbanne, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036488253","display_name":"Fran\u00e7ois Goulette","orcid":"https://orcid.org/0000-0003-1527-2650"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Francois Goulette","raw_affiliation_strings":["MINES ParisTech, PSL University, Paris, France"],"affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL University, Paris, France","institution_ids":["https://openalex.org/I70768539","https://openalex.org/I2746051580"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081764824"],"corresponding_institution_ids":["https://openalex.org/I2746051580","https://openalex.org/I70768539"],"apc_list":null,"apc_paid":null,"fwci":2.0858,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.87929672,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4429","last_page":"4436"},"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":0.9937999844551086,"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":0.9919999837875366,"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/lidar","display_name":"Lidar","score":0.9398269057273865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7650901079177856},{"id":"https://openalex.org/keywords/toolbox","display_name":"Toolbox","score":0.7150129675865173},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.6924604177474976},{"id":"https://openalex.org/keywords/strengths-and-weaknesses","display_name":"Strengths and weaknesses","score":0.6465927362442017},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.579770565032959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5706995725631714},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5440004467964172},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5165706872940063},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42438846826553345},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2795514464378357},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1286523938179016},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09525173902511597},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08430793881416321}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9398269057273865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7650901079177856},{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.7150129675865173},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6924604177474976},{"id":"https://openalex.org/C63882131","wikidata":"https://www.wikidata.org/wiki/Q17122954","display_name":"Strengths and weaknesses","level":2,"score":0.6465927362442017},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.579770565032959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5706995725631714},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5440004467964172},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5165706872940063},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42438846826553345},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2795514464378357},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1286523938179016},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09525173902511597},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08430793881416321},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636348","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":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1995963656","https://openalex.org/W2049981393","https://openalex.org/W2071906076","https://openalex.org/W2117228865","https://openalex.org/W2133476816","https://openalex.org/W2150066425","https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2805521962","https://openalex.org/W2922243907","https://openalex.org/W2963600667","https://openalex.org/W2983104849","https://openalex.org/W3089594064","https://openalex.org/W3091498919","https://openalex.org/W3115965176","https://openalex.org/W3118927214","https://openalex.org/W3129245057","https://openalex.org/W3129791688","https://openalex.org/W3194973398","https://openalex.org/W4249866455","https://openalex.org/W6697304529","https://openalex.org/W6785835665","https://openalex.org/W6787687218"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W2152464524"],"abstract_inverted_index":{"With":[0],"the":[1,49,54,69,72,91,125,128,135],"democratization":[2],"of":[3,116,134],"3D":[4,93],"LiDAR":[5,8,94,130],"sensors,":[6],"precise":[7],"odometries":[9,95,131],"and":[10,59,89,108,119],"SLAM":[11],"are":[12,64],"in":[13,26],"high":[14],"demand.":[15],"New":[16],"methods":[17,55,136],"regularly":[18],"appear,":[19],"proposing":[20],"solutions":[21],"ranging":[22],"from":[23],"small":[24],"variations":[25],"classical":[27],"algorithms":[28],"to":[29,42,48,111],"radically":[30],"new":[31],"paradigms":[32],"based":[33],"on":[34,52,121],"deep":[35,105],"learning.":[36],"Yet":[37],"it":[38],"is":[39],"often":[40,67],"difficult":[41],"compare":[43],"these":[44],"methods,":[45],"notably":[46],"due":[47],"few":[50],"datasets":[51],"which":[53],"can":[56],"be":[57,79],"evaluated":[58],"compared.":[60],"Furthermore,":[61],"their":[62,117],"weaknesses":[63,120],"rarely":[65],"examined,":[66],"letting":[68],"user":[70],"discover":[71],"hard":[73],"way":[74],"whether":[75],"a":[76,82],"method":[77],"would":[78],"appropriate":[80],"for":[81],"use":[83],"case.In":[84],"this":[85],"paper,":[86],"we":[87],"review":[88],"organize":[90],"main":[92],"into":[96],"distinct":[97],"categories.":[98],"We":[99],"implemented":[100],"several":[101],"approaches":[102],"(geometric":[103],"based,":[104,107],"learning":[106],"hybrid":[109],"methods)":[110],"conduct":[112],"an":[113],"in-depth":[114],"analysis":[115],"strengths":[118],"multiple":[122],"datasets,":[123],"guiding":[124],"reader":[126],"through":[127],"different":[129],"available.":[132],"Implementation":[133],"has":[137],"been":[138],"made":[139],"publicly":[140],"available":[141],"at:":[142],"https://github.com/Kitware/pyLiDAR-SLAM.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}