{"id":"https://openalex.org/W3199503344","doi":"https://doi.org/10.1109/iros51168.2021.9636676","title":"CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System","display_name":"CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3199503344","doi":"https://doi.org/10.1109/iros51168.2021.9636676","mag":"3199503344"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636676","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":"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/A5080463555","display_name":"Jiajun Lv","orcid":"https://orcid.org/0000-0002-8545-9464"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajun Lv","raw_affiliation_strings":["April Lab, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"April Lab, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109728656","display_name":"Kewei Hu","orcid":"https://orcid.org/0009-0003-6140-9520"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kewei Hu","raw_affiliation_strings":["April Lab, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"April Lab, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042521362","display_name":"Jinhong Xu","orcid":"https://orcid.org/0000-0001-5581-6160"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhong Xu","raw_affiliation_strings":["April Lab, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"April Lab, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["April Lab, Zhejiang University, Hangzhou, China","(Zhejiang University)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"April Lab, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"(Zhejiang University)","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778864","display_name":"Xiushui Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I4405254534","display_name":"NingboTech University","ror":"https://ror.org/01xx18q52","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405254534"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiushui Ma","raw_affiliation_strings":["NingboTech University, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NingboTech University, Ningbo, China","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I4405254534"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045415760","display_name":"Xingxing Zuo","orcid":"https://orcid.org/0000-0003-4158-3153"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingxing Zuo","raw_affiliation_strings":["April Lab, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"April Lab, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":24.099,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.99667365,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6657","last_page":"6663"},"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":0.9993000030517578,"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":0.9972000122070312,"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-science","display_name":"Computer science","score":0.7955818176269531},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7891615033149719},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6644686460494995},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5553890466690063},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5084146857261658},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.481537401676178},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4737214148044586},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.46392378211021423},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44965624809265137},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4473068118095398},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.41322946548461914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14005139470100403},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11118608713150024}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7955818176269531},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7891615033149719},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6644686460494995},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5553890466690063},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5084146857261658},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.481537401676178},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4737214148044586},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.46392378211021423},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44965624809265137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4473068118095398},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.41322946548461914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14005139470100403},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11118608713150024},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"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/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636676","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":"Partnerships for the goals","score":0.5,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1559010065","https://openalex.org/W1612997784","https://openalex.org/W1883991860","https://openalex.org/W1986434229","https://openalex.org/W1998058414","https://openalex.org/W2018908604","https://openalex.org/W2019321876","https://openalex.org/W2101028311","https://openalex.org/W2114084853","https://openalex.org/W2293833064","https://openalex.org/W2296228853","https://openalex.org/W2325922889","https://openalex.org/W2799678012","https://openalex.org/W2890354344","https://openalex.org/W2896245033","https://openalex.org/W2938170127","https://openalex.org/W2938818630","https://openalex.org/W2950380208","https://openalex.org/W2963517005","https://openalex.org/W2990449593","https://openalex.org/W3040008529","https://openalex.org/W3045838308","https://openalex.org/W3102369338","https://openalex.org/W3103579146","https://openalex.org/W3103648783","https://openalex.org/W3105664540","https://openalex.org/W3129245057","https://openalex.org/W3130081760","https://openalex.org/W6697304529"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W3000097931","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W4386821976"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,63,101,123],"propose":[4,64],"a":[5,35,45,65],"highly":[6],"accurate":[7],"continuous-time":[8,50,67],"trajectory":[9,51,68],"estimation":[10,52],"framework":[11,33],"dedicated":[12],"to":[13,71,130],"SLAM":[14],"(Simultaneous":[15],"Localization":[16],"and":[17,24,53,73,98],"Mapping)":[18],"applications,":[19],"which":[20],"enables":[21],"fuse":[22],"high-frequency":[23],"asynchronous":[25],"sensor":[26],"data":[27,100],"effectively.":[28],"We":[29,85],"apply":[30],"the":[31,56,76,87,90,99,108,112],"proposed":[32,42,91,109],"in":[34,59],"3D":[36],"LiDAR-inertial":[37],"system":[38],"for":[39,49],"evaluations.":[40],"The":[41,103],"method":[43,48,70,110],"adopts":[44],"non-rigid":[46],"registration":[47],"simultaneously":[54],"removing":[55],"motion":[57,120],"distortion":[58],"LiDAR":[60],"scans.":[61],"Additionally,":[62],"two-state":[66],"correction":[69],"efficiently":[72,74],"tackle":[75],"computationally-intractable":[77],"global":[78],"optimization":[79],"problem":[80],"when":[81,118],"loop":[82],"closure":[83],"happens.":[84],"examine":[86],"accuracy":[88,116],"of":[89],"approach":[92],"on":[93],"several":[94],"publicly":[95],"available":[96],"datasets":[97],"collected.":[102],"experimental":[104],"results":[105],"indicate":[106],"that":[107],"outperforms":[111],"discrete-time":[113],"methods":[114],"regarding":[115],"especially":[117],"aggressive":[119],"occurs.":[121],"Furthermore,":[122],"open":[124],"source":[125],"our":[126],"code":[127],"at":[128],"https://github.com/APRIL-ZJU/clins":[129],"benefit":[131],"research":[132],"community.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":5}],"updated_date":"2026-08-13T07:04:57.449891","created_date":"2025-10-10T00:00:00"}
