{"id":"https://openalex.org/W4389665393","doi":"https://doi.org/10.1109/iros55552.2023.10341569","title":"TWO: A Simple Method of Directly Closing the Loop for LiDAR Odometry","display_name":"TWO: A Simple Method of Directly Closing the Loop for LiDAR Odometry","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665393","doi":"https://doi.org/10.1109/iros55552.2023.10341569"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341569","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5101941415","display_name":"Zhuo Zhang","orcid":"https://orcid.org/0000-0002-0596-0807"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuo Zhang","raw_affiliation_strings":["Tsinghua University,Beijing National Research Center for Information Science and Technology,Department of Electronic Engineering,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing National Research Center for Information Science and Technology,Department of Electronic Engineering,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075198678","display_name":"Zheng Yao","orcid":"https://orcid.org/0000-0002-7657-644X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Yao","raw_affiliation_strings":["Tsinghua University,Beijing National Research Center for Information Science and Technology,Department of Electronic Engineering,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing National Research Center for Information Science and Technology,Department of Electronic Engineering,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032262275","display_name":"Mingquan Lu","orcid":"https://orcid.org/0000-0002-7767-6661"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingquan Lu","raw_affiliation_strings":["Tsinghua University,Beijing National Research Center for Information Science and Technology,Department of Electronic Engineering,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing National Research Center for Information Science and Technology,Department of Electronic Engineering,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"abs/2107.06829","issue":null,"first_page":"11003","last_page":"11010"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983000159263611,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9958999752998352,"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":0.9822708964347839},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7423133850097656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7091290950775146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6380504369735718},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5847411155700684},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5004193782806396},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4139483571052551},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.41181063652038574},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38538846373558044},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17345893383026123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16835671663284302},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07994738221168518}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9822708964347839},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7423133850097656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7091290950775146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6380504369735718},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5847411155700684},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5004193782806396},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4139483571052551},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.41181063652038574},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38538846373558044},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17345893383026123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16835671663284302},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07994738221168518}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341569","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1972485825","https://openalex.org/W2049981393","https://openalex.org/W2098764590","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2162136131","https://openalex.org/W2296228853","https://openalex.org/W2564361441","https://openalex.org/W2785582094","https://openalex.org/W2805521962","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2914921243","https://openalex.org/W2938818630","https://openalex.org/W2940793188","https://openalex.org/W2963600667","https://openalex.org/W3089764790","https://openalex.org/W3091486995","https://openalex.org/W3105213754","https://openalex.org/W3130321534","https://openalex.org/W3130609318","https://openalex.org/W3131459917","https://openalex.org/W3133648073","https://openalex.org/W3161580315","https://openalex.org/W3168086592","https://openalex.org/W3174270524","https://openalex.org/W3192680689","https://openalex.org/W3203066970","https://openalex.org/W3205251654","https://openalex.org/W4210423514","https://openalex.org/W4249866455","https://openalex.org/W4285512293","https://openalex.org/W6798918574"],"related_works":["https://openalex.org/W2593280956","https://openalex.org/W2998370018","https://openalex.org/W2004312940","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W1909961747","https://openalex.org/W1938318326","https://openalex.org/W2951795132","https://openalex.org/W1969479488"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,72,97],"propose":[4],"a":[5],"simple":[6],"method,":[7],"termed":[8],"TWO,":[9],"of":[10,32,67,76,80],"directly":[11,159],"closing":[12],"the":[13,24,29,33,41,45,52,57,62,65,74,78,81,86,100,115,124,151],"loop":[14],"for":[15],"LiDAR":[16,63,126],"odometry.":[17,117],"TWO":[18,120,152],"suggests":[19],"assigning":[20],"high":[21],"weights":[22],"to":[23,28,56,84,114],"LIDAR":[25],"observations":[26],"corresponding":[27],"old":[30],"parts":[31,37,69],"map;":[34],"since":[35],"these":[36,68,156],"are":[38],"built":[39],"with":[40,167],"low-drift":[42],"poses":[43],"from":[44],"early":[46],"odometry":[47,54,127,131],"and":[48,105,110,129,133,142,163],"can":[49,153],"help":[50,155],"drag":[51],"drifted":[53],"back":[55],"correct":[58],"global":[59],"position":[60],"when":[61,93],"scans":[64],"points":[66],"again.":[70],"Also,":[71],"present":[73],"method":[75,102],"checking":[77],"consistency":[79],"plane":[82],"normal":[83],"address":[85],"two-side":[87],"problem":[88],"that":[89,99,150],"may":[90],"cause":[91],"damage":[92],"using":[94],"TWO.":[95],"Moreover,":[96],"show":[98,149],"proposed":[101,119],"is":[103,121,135],"lightweight":[104],"needs":[106],"little":[107],"extra":[108],"computation":[109],"storage":[111],"space":[112],"compared":[113],"original":[116],"The":[118,147],"integrated":[122],"into":[123],"state-of-the-art":[125],"A-LOAM":[128],"LiDAR-inertial":[130],"FAST-LIO2,":[132],"it":[134],"tested":[136],"thoroughly":[137],"on":[138],"five":[139],"public":[140],"datasets":[141],"our":[143],"private":[144],"handheld":[145],"dataset.":[146],"experiments":[148],"effectively":[154],"two":[157],"methods":[158],"close":[160],"most":[161],"loops":[162],"produce":[164],"localization":[165],"results":[166],"apparently":[168],"lower":[169],"drifts.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}