{"id":"https://openalex.org/W4416749008","doi":"https://doi.org/10.1109/iros60139.2025.11247427","title":"VoxEKF-RIO: A 4D Radar Inertial Odometry Based on Incremental Voxel Map and Iterated Kalman Filter","display_name":"VoxEKF-RIO: A 4D Radar Inertial Odometry Based on Incremental Voxel Map and Iterated Kalman Filter","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749008","doi":"https://doi.org/10.1109/iros60139.2025.11247427"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247427","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/A5039321981","display_name":"Jiawei Shen","orcid":"https://orcid.org/0000-0002-0393-8497"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Shen","raw_affiliation_strings":["Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113353550","display_name":"Chenyu Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyu Shen","raw_affiliation_strings":["Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049744543","display_name":"Zishun Deng","orcid":"https://orcid.org/0000-0003-1169-6376"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zishun Deng","raw_affiliation_strings":["Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003316082","display_name":"Wanbiao Lin","orcid":"https://orcid.org/0009-0006-7170-7718"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]},{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanbiao Lin","raw_affiliation_strings":["Nankai University,Shenzhen Research Institute,Shenzhen,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Shenzhen Research Institute,Shenzhen,CHN","institution_ids":["https://openalex.org/I4210105229","https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106781146","display_name":"Bohan Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bohan Shi","raw_affiliation_strings":["Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021631382","display_name":"Lei Sun","orcid":"https://orcid.org/0000-0002-8886-9012"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Sun","raw_affiliation_strings":["Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics &#x0026; Automatic Information System,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]}],"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":0.42416793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5379","last_page":"5385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8253999948501587,"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":0.8253999948501587,"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/T10801","display_name":"Synthetic Aperture Radar (SAR) Applications and Techniques","score":0.06030000001192093,"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":0.027000000700354576,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6798999905586243},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5478000044822693},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4966000020503998},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.49549999833106995},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.4729999899864197},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.43479999899864197},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.424699991941452},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.39649999141693115},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.3792000114917755},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.3736000061035156}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6987000107765198},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6865000128746033},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6798999905586243},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6449999809265137},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5478000044822693},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4966000020503998},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.49549999833106995},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.4729999899864197},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.43479999899864197},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.424699991941452},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.39649999141693115},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.3792000114917755},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3736000061035156},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.3693000078201294},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.36800000071525574},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.35089999437332153},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.3474999964237213},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.34529998898506165},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.3431999981403351},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.34060001373291016},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.33390000462532043},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.3237000107765198},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.2987000048160553},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.29829999804496765},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2976999878883362},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.29490000009536743},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.2809000015258789},{"id":"https://openalex.org/C2778559676","wikidata":"https://www.wikidata.org/wiki/Q1334213","display_name":"Doppler radar","level":3,"score":0.2752000093460083},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.26840001344680786},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C87360688","wikidata":"https://www.wikidata.org/wiki/Q740686","display_name":"Synthetic aperture radar","level":2,"score":0.25929999351501465}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247427","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1968917201","https://openalex.org/W2158662637","https://openalex.org/W2296228853","https://openalex.org/W2443717701","https://openalex.org/W2962987986","https://openalex.org/W3007240855","https://openalex.org/W3087767329","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W4210423514","https://openalex.org/W4249866455","https://openalex.org/W4285269741","https://openalex.org/W4292544413","https://openalex.org/W4365420566","https://openalex.org/W4383108717","https://openalex.org/W4383200248","https://openalex.org/W4386038339","https://openalex.org/W4390590927","https://openalex.org/W4391768470","https://openalex.org/W4401415166"],"related_works":[],"abstract_inverted_index":{"4D":[0,32,48,135],"mmWave":[1],"radar":[2,33,49,117,136],"provides":[3],"the":[4,25,72,79,90,127,139,150,157,161],"point":[5,29,95,119],"cloud":[6,30,120],"with":[7,101],"range,":[8],"azimuth,":[9],"elevation,":[10],"Doppler":[11],"velocity":[12],"and":[13,27,57,64,104,122,141,160],"operates":[14],"normally":[15],"in":[16,155],"severe":[17],"weather":[18],"conditions.":[19],"However,":[20],"due":[21],"to":[22,70,97,115],"wavelength":[23],"characteristics,":[24],"noisy":[26,55],"sparse":[28],"that":[31],"collects":[34],"poses":[35],"great":[36],"challenges":[37],"for":[38,125],"SLAM":[39],"research.":[40],"In":[41],"this":[42],"paper,":[43],"we":[44],"propose":[45],"VoxEKF-RIO,":[46],"a":[47,61,81,94,106],"inertial":[50],"odometry.":[51],"VoxEKF-RIO":[52],"filters":[53],"out":[54],"points":[56,100],"estimates":[58],"ego-velocity":[59],"through":[60],"preprocessing":[62],"module":[63],"maintains":[65],"an":[66],"incremental":[67],"voxel":[68,91,153],"map":[69,154],"represent":[71],"probabilistic":[73],"models":[74],"of":[75,144,152],"environments.":[76],"To":[77],"improve":[78],"accuracy,":[80],"reliable":[82,102,162],"scan-to-submap":[83],"matching":[84,108,163],"method":[85],"is":[86,113],"designed":[87],"based":[88],"on":[89,132],"map,":[92],"using":[93],"filter":[96,112],"obtain":[98],"valid":[99],"matches,":[103],"adopting":[105],"distribution-to-distribution":[107],"distance.":[109],"Iterative":[110],"Kalman":[111],"used":[114],"fuse":[116],"velocity,":[118],"registration,":[121],"IMU":[123],"data":[124],"estimating":[126],"platform\u2019s":[128],"motion.":[129],"The":[130,146],"experiments":[131],"publicly":[133],"available":[134],"datasets":[137],"demonstrate":[138],"reliability":[140],"high":[142],"accuracy":[143],"VoxEKF-RIO.":[145],"ablation":[147],"studies":[148],"reveal":[149],"benefit":[151],"describing":[156],"environment":[158],"characteristics":[159],"method.":[164]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}
