{"id":"https://openalex.org/W4405785209","doi":"https://doi.org/10.1109/iros58592.2024.10802004","title":"A Multi-model Fusion of LiDAR-inertial Odometry via Localization and Mapping","display_name":"A Multi-model Fusion of LiDAR-inertial Odometry via Localization and Mapping","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785209","doi":"https://doi.org/10.1109/iros58592.2024.10802004"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5053758786","display_name":"An Nguyen","orcid":"https://orcid.org/0000-0002-8759-7641"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"An Duy Nguyen","raw_affiliation_strings":["University of Nevada,Advanced Robotics and Automation (ARA) Lab,Department of Computer Science and Engineering,Reno,NV,USA,89557"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Advanced Robotics and Automation (ARA) Lab,Department of Computer Science and Engineering,Reno,NV,USA,89557","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008555524","display_name":"Chuong Le","orcid":"https://orcid.org/0000-0002-9116-5219"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chuong Phuoc Le","raw_affiliation_strings":["University of Nevada,Advanced Robotics and Automation (ARA) Lab,Department of Computer Science and Engineering,Reno,NV,USA,89557"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Advanced Robotics and Automation (ARA) Lab,Department of Computer Science and Engineering,Reno,NV,USA,89557","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115648450","display_name":"Pratik Walunj","orcid":null},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pratik Walunj","raw_affiliation_strings":["University of Nevada,Advanced Robotics and Automation (ARA) Lab,Department of Computer Science and Engineering,Reno,NV,USA,89557"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Advanced Robotics and Automation (ARA) Lab,Department of Computer Science and Engineering,Reno,NV,USA,89557","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055421257","display_name":"Anton Netchaev","orcid":"https://orcid.org/0000-0002-8463-1779"},"institutions":[{"id":"https://openalex.org/I1306490931","display_name":"United States Army Corps of Engineers","ror":"https://ror.org/05w4e8v21","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1306490931","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I87303767","display_name":"U.S. Army Engineer Research and Development Center","ror":"https://ror.org/027mhn368","country_code":"US","type":"facility","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1306490931","https://openalex.org/I1330347796","https://openalex.org/I87303767"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anton Netchaev","raw_affiliation_strings":["Information Technology Lab,USACE Engineer Research and Development Center (ERDC),Vicksburg,MS,USA,39180"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Technology Lab,USACE Engineer Research and Development Center (ERDC),Vicksburg,MS,USA,39180","institution_ids":["https://openalex.org/I1306490931","https://openalex.org/I87303767"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016623093","display_name":"Thanh Nho","orcid":"https://orcid.org/0000-0002-4980-5251"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thanh Nho Do","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering,Kensington Campus,NSW,Australia,2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering,Kensington Campus,NSW,Australia,2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060555317","display_name":"Hung Manh La","orcid":"https://orcid.org/0000-0003-2183-2634"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hung Manh La","raw_affiliation_strings":["University of Nevada,Advanced Robotics and Automation (ARA) Lab,Department of Computer Science and Engineering,Reno,NV,USA,89557"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Advanced Robotics and Automation (ARA) Lab,Department of Computer Science and Engineering,Reno,NV,USA,89557","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3334","last_page":"3339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9973999857902527,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8882659673690796},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7696506977081299},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5991885662078857},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5799722671508789},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.541443407535553},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5263672471046448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5236577391624451},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.481192409992218},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4191013276576996},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1719771921634674},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12397709488868713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12393966317176819},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11790397763252258}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8882659673690796},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7696506977081299},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5991885662078857},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5799722671508789},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.541443407535553},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5263672471046448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5236577391624451},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.481192409992218},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4191013276576996},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1719771921634674},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12397709488868713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12393966317176819},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11790397763252258},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1991902293","https://openalex.org/W2020804487","https://openalex.org/W2049981393","https://openalex.org/W2225974670","https://openalex.org/W2252513340","https://openalex.org/W2296228853","https://openalex.org/W2737100565","https://openalex.org/W2909908358","https://openalex.org/W2927636958","https://openalex.org/W2938818630","https://openalex.org/W2982316372","https://openalex.org/W3004334518","https://openalex.org/W3089503906","https://openalex.org/W3091486995","https://openalex.org/W3129245057","https://openalex.org/W3132401233","https://openalex.org/W3133648073","https://openalex.org/W3201923677","https://openalex.org/W4210423514","https://openalex.org/W4210920348","https://openalex.org/W4292544413","https://openalex.org/W4320029045","https://openalex.org/W4383220232","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"This":[0,117],"work":[1],"presents":[2],"a":[3,33,51,68],"comprehensive":[4],"LiDAR-inertial":[5],"odometry":[6],"framework":[7,53],"featuring":[8],"robust":[9],"smoothing":[10],"and":[11,76,89,114],"mapping":[12],"capabilities,":[13],"effectively":[14],"correcting":[15],"LiDAR":[16],"feature":[17],"point":[18],"skewness":[19],"using":[20],"an":[21,83],"inertial":[22],"measurement":[23],"unit":[24],"(IMU).":[25],"While":[26],"the":[27,56,95,100,129],"Extended":[28],"Kalman":[29,62],"Filter":[30,63],"(EKF)":[31],"is":[32,65,92,141],"common":[34],"choice":[35],"for":[36,70,148],"nonlinear":[37],"motion":[38,75],"estimation,":[39],"its":[40],"complexity":[41],"grows":[42],"when":[43],"handling":[44],"maneuvering":[45],"targets.":[46],"To":[47,79,98],"overcome":[48],"this":[49],"challenge,":[50],"new":[52,130],"that":[54,85],"incorporates":[55],"Iterated":[57],"Interactive":[58],"Multiple":[59],"Models":[60],"of":[61,102,112,126],"(IMMKF)":[64],"given,":[66],"providing":[67],"solution":[69],"reliable":[71],"navigation":[72],"in":[73],"dynamic":[74],"noisy":[77],"conditions.":[78],"ensure":[80],"map":[81],"consistency,":[82],"ikd-tree":[84],"facilitates":[86],"continuous":[87],"updates":[88],"adaptive":[90],"rebalance":[91],"employed,":[93],"preserving":[94],"map\u2019s":[96],"integrity.":[97],"guarantee":[99],"robustness":[101],"our":[103],"approach,":[104],"it":[105],"undergoes":[106],"extensive":[107],"testing":[108,118],"across":[109],"diverse":[110],"scales":[111],"indoor":[113],"outdoor":[115],"environments.":[116],"scenario":[119],"simulates":[120],"absolute":[121],"GPS":[122],"denial.":[123],"In":[124],"terms":[125],"estimated":[127],"motion,":[128],"algorithm":[131],"demonstrates":[132],"superior":[133],"accuracy":[134],"compared":[135],"to":[136],"existing":[137],"approaches.":[138],"The":[139],"implementation":[140],"openly":[142],"accessible":[143],"on":[144],"GitHub<sup":[145],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[146],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">4</sup>":[147],"further":[149],"exploration.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}