{"id":"https://openalex.org/W4416750202","doi":"https://doi.org/10.1109/iros60139.2025.11246422","title":"DuLoc: Life-Long Dual-Layer Localization in Changing and Dynamic Expansive Scenarios","display_name":"DuLoc: Life-Long Dual-Layer Localization in Changing and Dynamic Expansive Scenarios","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750202","doi":"https://doi.org/10.1109/iros60139.2025.11246422"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11246422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246422","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":null,"display_name":"Haoxuan Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Haoxuan Jiang","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China,511453"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China,511453","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peicong Qian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134236","display_name":"Shenzhen Planck Innovation (China)","ror":"https://ror.org/03b252479","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210134236"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peicong Qian","raw_affiliation_strings":["Shenzhen Unity Drive Innovation Technology Co., Ltd.,Shenzhen,China,518063"],"affiliations":[{"raw_affiliation_string":"Shenzhen Unity Drive Innovation Technology Co., Ltd.,Shenzhen,China,518063","institution_ids":["https://openalex.org/I4210134236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018943277","display_name":"Yusen Xie","orcid":"https://orcid.org/0000-0002-6735-2866"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yusen Xie","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China,511453"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China,511453","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003281791","display_name":"Xiaocong Li","orcid":"https://orcid.org/0000-0001-7690-4768"},"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/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaocong Li","raw_affiliation_strings":["College of Information Science and Technology, Eastern Institute of Technology,Ningbo,China,Ningbo 315200"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Eastern Institute of Technology,Ningbo,China,Ningbo 315200","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I159389169"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100642558","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0001-9849-1845"},"institutions":[{"id":"https://openalex.org/I4210134236","display_name":"Shenzhen Planck Innovation (China)","ror":"https://ror.org/03b252479","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210134236"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Shenzhen Unity Drive Innovation Technology Co., Ltd.,Shenzhen,China,518063"],"affiliations":[{"raw_affiliation_string":"Shenzhen Unity Drive Innovation Technology Co., Ltd.,Shenzhen,China,518063","institution_ids":["https://openalex.org/I4210134236"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100405301","display_name":"Jun Ma","orcid":"https://orcid.org/0000-0002-7566-4317"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Ma","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China,511453"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China,511453","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43698261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16578","last_page":"16584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9354000091552734,"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":0.9354000091552734,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.009200000204145908,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10036","display_name":"Advanced Neural Network Applications","score":0.007499999832361937,"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/robustness","display_name":"Robustness (evolution)","score":0.771399974822998},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.557200014591217},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5052000284194946},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.4902999997138977},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.47360000014305115},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4715999960899353},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4650000035762787},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.38989999890327454}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.771399974822998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6603999733924866},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.557200014591217},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5052000284194946},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.4902999997138977},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.47360000014305115},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4715999960899353},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4650000035762787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4526999890804291},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.38989999890327454},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3714999854564667},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36809998750686646},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.3668999969959259},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.352400004863739},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.3050999939441681},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.2897000014781952},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2696000039577484},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2653999924659729},{"id":"https://openalex.org/C67226441","wikidata":"https://www.wikidata.org/wiki/Q1665389","display_name":"Robust statistics","level":3,"score":0.26460000872612},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.25699999928474426}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11246422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246422","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-169432","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-169432","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2049981393","https://openalex.org/W2119851068","https://openalex.org/W2139137304","https://openalex.org/W2909908358","https://openalex.org/W3043971245","https://openalex.org/W3090923812","https://openalex.org/W3091486995","https://openalex.org/W3120341055","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3134205853","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W4285272630","https://openalex.org/W4293057190","https://openalex.org/W4312776746","https://openalex.org/W4312929645","https://openalex.org/W4362698359","https://openalex.org/W4385338639","https://openalex.org/W4387623775","https://openalex.org/W4387789869","https://openalex.org/W4387790011","https://openalex.org/W4391924189","https://openalex.org/W4391935964","https://openalex.org/W4392397270","https://openalex.org/W4392515775","https://openalex.org/W4398151456","https://openalex.org/W4399525953","https://openalex.org/W4400453648","https://openalex.org/W4401415150","https://openalex.org/W4401415682","https://openalex.org/W4401453714","https://openalex.org/W4401608619"],"related_works":[],"abstract_inverted_index":{"LiDAR-based":[0,91],"localization":[1,43,64,92,108,152],"serves":[2],"as":[3],"a":[4,60,76,90,97],"critical":[5],"component":[6],"in":[7,16,48,84,109,117,138,154],"autonomous":[8],"systems,":[9],"yet":[10],"existing":[11],"approaches":[12],"face":[13],"persistent":[14],"challenges":[15],"balancing":[17],"repeatability,":[18],"accuracy,":[19],"and":[20,45,62,111,136],"environmental":[21,39],"adaptability.":[22],"Traditional":[23],"point":[24],"cloud":[25],"registration":[26],"methods":[27],"relying":[28],"solely":[29],"on":[30],"offline":[31,72],"maps":[32],"often":[33],"exhibit":[34],"limited":[35],"robustness":[36],"against":[37],"long-term":[38],"changes,":[40],"leading":[41],"to":[42,80],"drift":[44],"reliability":[46],"degradation":[47],"dynamic":[49,102],"real-world":[50,85,115],"scenarios.":[51,86],"To":[52],"address":[53],"these":[54],"challenges,":[55],"this":[56,139],"paper":[57],"proposes":[58],"DuLoc,":[59],"robust":[61,107],"accurate":[63],"method":[65],"that":[66,94,121,145],"tightly":[67],"couples":[68],"LiDAR-inertial":[69],"odometry":[70],"with":[71,101],"map-based":[73],"localization,":[74],"incorporating":[75],"constant-velocity":[77],"motion":[78],"model":[79],"mitigate":[81],"outlier":[82],"noise":[83],"Specifically,":[87],"we":[88],"develop":[89],"framework":[93],"seamlessly":[95],"integrates":[96],"prior":[98],"global":[99],"map":[100],"real-time":[103],"local":[104],"maps,":[105],"enabling":[106],"unbounded":[110,119],"changing":[112,156],"environments.":[113,158],"Extensive":[114],"experiments":[116],"ultra":[118],"port":[120],"involve":[122],"2,856":[123],"hours":[124],"of":[125],"operational":[126],"data":[127],"across":[128],"32":[129],"Intelligent":[130],"Guided":[131],"Vehicles":[132],"(IGVs)":[133],"are":[134],"conducted":[135],"reported":[137],"study.":[140],"The":[141],"results":[142],"attained":[143],"demonstrate":[144],"our":[146],"system":[147],"outperforms":[148],"other":[149],"state-of-the-art":[150],"LiDAR":[151],"systems":[153],"large-scale":[155],"outdoor":[157]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}
