{"id":"https://openalex.org/W4416747872","doi":"https://doi.org/10.1109/iros60139.2025.11247236","title":"QLIO: Quantized LiDAR-Inertial Odometry","display_name":"QLIO: Quantized LiDAR-Inertial Odometry","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416747872","doi":"https://doi.org/10.1109/iros60139.2025.11247236"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247236","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":"https://openalex.org/A5111287920","display_name":"Boyang Lou","orcid":"https://orcid.org/0009-0000-9071-4063"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Boyang Lou","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026848789","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0003-1887-6342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["Nanyang Technological University,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005666034","display_name":"Jianfei Yang","orcid":"https://orcid.org/0000-0002-8075-0439"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jianfei Yang","raw_affiliation_strings":["Nanyang Technological University,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055370696","display_name":"Wenju Su","orcid":"https://orcid.org/0009-0008-9224-0293"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenju Su","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yingjian Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjian Zhang","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077221055","display_name":"Enwen Hu","orcid":"https://orcid.org/0000-0001-5019-3961"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Enwen Hu","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5111287920"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":null,"apc_paid":null,"fwci":4.6178,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95705542,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"21811","last_page":"21818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9722999930381775,"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":0.9722999930381775,"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":0.004900000058114529,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.004399999976158142,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6096000075340271},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5968000292778015},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.5024999976158142},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.501800000667572},{"id":"https://openalex.org/keywords/resampling","display_name":"Resampling","score":0.451200008392334},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.42149999737739563},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.41200000047683716},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.3912999927997589}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7724000215530396},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6096000075340271},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5968000292778015},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.5024999976158142},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.501800000667572},{"id":"https://openalex.org/C150921843","wikidata":"https://www.wikidata.org/wiki/Q1170431","display_name":"Resampling","level":2,"score":0.451200008392334},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.42149999737739563},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.41200000047683716},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.3912999927997589},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.39100000262260437},{"id":"https://openalex.org/C2781357197","wikidata":"https://www.wikidata.org/wiki/Q5757597","display_name":"High memory","level":2,"score":0.37599998712539673},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3707999885082245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35899999737739563},{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.3582000136375427},{"id":"https://openalex.org/C188045654","wikidata":"https://www.wikidata.org/wiki/Q17148339","display_name":"Memory bandwidth","level":2,"score":0.35260000824928284},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.35179999470710754},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.34459999203681946},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.33629998564720154},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.33550000190734863},{"id":"https://openalex.org/C66024118","wikidata":"https://www.wikidata.org/wiki/Q1122506","display_name":"Computational model","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.32330000400543213},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3034999966621399},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2718000113964081},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247236","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"}],"best_oa_location":null,"sustainable_development_goals":[],"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":61,"referenced_works":["https://openalex.org/W1975330208","https://openalex.org/W1992200270","https://openalex.org/W2000462596","https://openalex.org/W2027055074","https://openalex.org/W2054030264","https://openalex.org/W2149083914","https://openalex.org/W2157741937","https://openalex.org/W2157958213","https://openalex.org/W2296228853","https://openalex.org/W2565755350","https://openalex.org/W2735596698","https://openalex.org/W2909908358","https://openalex.org/W3014200484","https://openalex.org/W3091667825","https://openalex.org/W3119342526","https://openalex.org/W3129245057","https://openalex.org/W3132270109","https://openalex.org/W3159136954","https://openalex.org/W3189526488","https://openalex.org/W3198949939","https://openalex.org/W3199184510","https://openalex.org/W3200664388","https://openalex.org/W3206845495","https://openalex.org/W3214208961","https://openalex.org/W4210423514","https://openalex.org/W4286249767","https://openalex.org/W4292544413","https://openalex.org/W4310591442","https://openalex.org/W4315778466","https://openalex.org/W4321194448","https://openalex.org/W4383109468","https://openalex.org/W4385656324","https://openalex.org/W4389668085","https://openalex.org/W4390590927","https://openalex.org/W4390691142","https://openalex.org/W4390778110","https://openalex.org/W4390905188","https://openalex.org/W4391590977","https://openalex.org/W4394746389","https://openalex.org/W4399665678","https://openalex.org/W4400228859","https://openalex.org/W4400230150","https://openalex.org/W4400975091","https://openalex.org/W4401070333","https://openalex.org/W4401414466","https://openalex.org/W4401414779","https://openalex.org/W4401415026","https://openalex.org/W4401415682","https://openalex.org/W4401415917","https://openalex.org/W4401496682","https://openalex.org/W4402727356","https://openalex.org/W4403390395","https://openalex.org/W4404520519","https://openalex.org/W4405022859","https://openalex.org/W4405521076","https://openalex.org/W4405785620","https://openalex.org/W4407168458","https://openalex.org/W4413157342","https://openalex.org/W4413917662","https://openalex.org/W4413925341","https://openalex.org/W4416751165"],"related_works":[],"abstract_inverted_index":{"LiDAR-Inertial":[0],"Odometry":[1],"(LIO)":[2],"is":[3],"widely":[4],"used":[5],"for":[6,159],"autonomous":[7,161],"navigation,":[8],"but":[9],"its":[10],"deployment":[11],"on":[12,35,52],"Size,":[13],"Weight,":[14],"and":[15,44,71,111,146,156,166],"Power":[16],"(SWaP)-constrained":[17],"platforms":[18],"remains":[19],"challenging":[20],"due":[21],"to":[22,41,99,142],"the":[23,100],"computational":[24,42,69,117,165],"cost":[25],"of":[26],"processing":[27],"dense":[28],"point":[29],"clouds.":[30],"Conventional":[31],"LIO":[32,65],"frameworks":[33],"rely":[34],"a":[36,61,80,86,125],"single":[37],"onboard":[38],"processor,":[39],"leading":[40],"bottlenecks":[43],"high":[45],"memory":[46],"demands,":[47],"making":[48],"real-time":[49,160],"execution":[50],"difficult":[51],"embedded":[53],"systems.":[54],"To":[55],"address":[56],"this,":[57],"we":[58,137],"propose":[59],"QLIO,":[60],"multi-processor":[62],"distributed":[63],"quantized":[64,81],"framework":[66],"that":[67,122],"reduces":[68],"load":[70],"bandwidth":[72,167],"consumption":[73],"while":[74,132],"maintaining":[75],"localization":[76,134],"accuracy.":[77,135],"QLIO":[78,123,152],"introduces":[79],"state":[82],"estimation":[83],"pipeline,":[84],"where":[85],"co-processor":[87],"pre-processes":[88],"LiDAR":[89],"measurements,":[90],"compressing":[91],"point-to-plane":[92],"residuals":[93],"before":[94],"transmitting":[95],"only":[96],"essential":[97],"features":[98],"host":[101],"processor.":[102],"Additionally,":[103],"an":[104,139,154],"rQ-vector-based":[105],"adaptive":[106],"resampling":[107],"strategy":[108],"intelligently":[109],"selects":[110],"compresses":[112],"key":[113],"observations,":[114],"further":[115,144],"reducing":[116],"redundancy.":[118],"Real-World":[119],"evaluations":[120],"demonstrate":[121],"achieves":[124],"14.1\u00d7":[126],"reduction":[127],"in":[128],"perobservation":[129],"residual":[130],"data":[131],"preserving":[133],"Furthermore,":[136],"release":[138],"open-source":[140],"implementation":[141],"facilitate":[143],"research":[145],"real-world":[147],"deployment.":[148],"These":[149],"results":[150],"establish":[151],"as":[153],"efficient":[155],"scalable":[157],"solution":[158],"systems":[162],"operating":[163],"under":[164],"constraints.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-11-28T00:00:00"}
