{"id":"https://openalex.org/W4389667317","doi":"https://doi.org/10.1109/iros55552.2023.10342258","title":"LIWO: LiDAR-Inertial-Wheel Odometry","display_name":"LIWO: LiDAR-Inertial-Wheel Odometry","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667317","doi":"https://doi.org/10.1109/iros55552.2023.10342258"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342258","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":"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/A5029784526","display_name":"Zikang Yuan","orcid":"https://orcid.org/0000-0003-0066-3325"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zikang Yuan","raw_affiliation_strings":["Institute of Artificial Intelligence, Huazhong University of Science and Technology,Wuhan,China,430074"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Huazhong University of Science and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072470911","display_name":"Fengtian Lang","orcid":"https://orcid.org/0000-0001-9930-5522"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengtian Lang","raw_affiliation_strings":["Huazhong University of Science and Technology,Electronic Information and Communications,Wuhan,China,430074"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,Electronic Information and Communications,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080465353","display_name":"Tian\u2010Le Xu","orcid":"https://orcid.org/0000-0002-1438-0038"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianle Xu","raw_affiliation_strings":["Huazhong University of Science and Technology,Electronic Information and Communications,Wuhan,China,430074"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,Electronic Information and Communications,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088751649","display_name":"Xin Yang","orcid":"https://orcid.org/0000-0001-6252-1061"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Yang","raw_affiliation_strings":["Huazhong University of Science and Technology,Electronic Information and Communications,Wuhan,China,430074"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,Electronic Information and Communications,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029784526"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":12.1518,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.98099358,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1481","last_page":"1488"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9943000078201294,"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":0.9436628222465515},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7984645366668701},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7604776620864868},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6771079897880554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6108774542808533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5291371941566467},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5242131948471069},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4879583716392517},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4659978151321411},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31883013248443604},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31125307083129883},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1785777509212494},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13899484276771545},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09609025716781616}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9436628222465515},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7984645366668701},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7604776620864868},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6771079897880554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6108774542808533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5291371941566467},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5242131948471069},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4879583716392517},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4659978151321411},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31883013248443604},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31125307083129883},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1785777509212494},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13899484276771545},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09609025716781616},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342258","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G2262924257","display_name":null,"funder_award_id":"62122029,62061160490,U20B2064","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":23,"referenced_works":["https://openalex.org/W2277848489","https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2745859992","https://openalex.org/W2909908358","https://openalex.org/W2938170127","https://openalex.org/W2938818630","https://openalex.org/W2973108181","https://openalex.org/W3003456500","https://openalex.org/W3011465262","https://openalex.org/W3091486995","https://openalex.org/W3095662029","https://openalex.org/W3100687815","https://openalex.org/W3129245057","https://openalex.org/W3132921302","https://openalex.org/W3133648073","https://openalex.org/W3203066970","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W4225835048","https://openalex.org/W4307008650","https://openalex.org/W6791084763","https://openalex.org/W6845688633"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W3043079964","https://openalex.org/W2382856674"],"abstract_inverted_index":{"LiDAR-inertial":[0],"odometry":[1],"(LIO),":[2],"which":[3,91,123],"fuses":[4,92],"complementary":[5],"information":[6],"of":[7,111,152,172,188],"a":[8,64,102,112,128,180],"LiDAR":[9],"and":[10,27,86,98,178],"an":[11,17,84,120],"Inertial":[12],"Measurement":[13],"Unit":[14],"(IMU),":[15],"is":[16],"attractive":[18],"solution":[19],"for":[20,51],"state":[21,32,131,153],"estimation.":[22,154],"In":[23,78,133],"LIO,":[24],"both":[25],"pose":[26,76],"velocity":[28,55,67,117,137],"are":[29],"regarded":[30],"as":[31,119],"variables":[33],"that":[34,162],"need":[35],"to":[36,70,126],"be":[37,58,71],"solved.":[38],"However,":[39],"the":[40,54,66,75,93,136,140,150,186,192],"widely-used":[41],"Iterative":[42],"Closest":[43],"Point":[44],"(ICP)":[45],"algorithm":[46],"can":[47,56,147,183],"only":[48,57],"provide":[49,116,127],"constraint":[50],"pose,":[52],"while":[53],"constrained":[59],"by":[60,139],"IMU":[61,97],"pre-integration.":[62],"As":[63],"result,":[65],"estimates":[68],"inclined":[69],"updated":[72],"accordingly":[73],"with":[74],"results.":[77],"this":[79],"paper,":[80],"we":[81],"propose":[82],"LIWO,":[83],"accurate":[85,130],"robust":[87],"LiDAR-inertial-wheel":[88],"(LIW)":[89],"odometry,":[90],"measurements":[94],"from":[95,142],"LiDAR,":[96],"wheel":[99,113,143,181],"encoder":[100,114,144,182],"in":[101,145,170],"bundle":[103],"adjustment":[104],"(BA)":[105],"based":[106,190],"optimization":[107,146],"framework.":[108,194],"The":[109],"involvement":[110],"could":[115],"measurement":[118],"important":[121],"observation,":[122],"assists":[124],"LIO":[125,168,189],"more":[129],"prediction.":[132],"addition,":[134],"con-straining":[135],"variable":[138],"observation":[141],"further":[148],"improve":[149,185],"accuracy":[151],"Experiment":[155],"results":[156],"on":[157,191],"two":[158],"public":[159],"datasets":[160],"demonstrate":[161],"our":[163],"system":[164],"outperforms":[165],"all":[166],"state-of-the-art":[167],"systems":[169],"terms":[171],"smaller":[173],"absolute":[174],"trajectory":[175],"error":[176],"(ATE),":[177],"embedding":[179],"greatly":[184],"performance":[187],"BA":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}