{"id":"https://openalex.org/W4416750803","doi":"https://doi.org/10.1109/iros60139.2025.11247522","title":"LPVIMO-SAM: Tightly-coupled LiDAR/Polarization Vision/Inertial/Magnetometer/Optical Flow Odometry via Smoothing and Mapping","display_name":"LPVIMO-SAM: Tightly-coupled LiDAR/Polarization Vision/Inertial/Magnetometer/Optical Flow Odometry via Smoothing and Mapping","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750803","doi":"https://doi.org/10.1109/iros60139.2025.11247522"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247522","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2504.20380","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027435445","display_name":"D. C. Shan","orcid":null},"institutions":[{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Derui Shan","raw_affiliation_strings":["North China University of Technology,School of Information Science,Beijing,China"],"affiliations":[{"raw_affiliation_string":"North China University of Technology,School of Information Science,Beijing,China","institution_ids":["https://openalex.org/I1456306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032333570","display_name":"Peng Guo","orcid":"https://orcid.org/0000-0002-5435-5523"},"institutions":[{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Guo","raw_affiliation_strings":["North China University of Technology,School of Information Science,Beijing,China"],"affiliations":[{"raw_affiliation_string":"North China University of Technology,School of Information Science,Beijing,China","institution_ids":["https://openalex.org/I1456306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102005028","display_name":"Wenshuo Li","orcid":"https://orcid.org/0000-0003-2389-8311"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenshuo Li","raw_affiliation_strings":["Beihang University,Hangzhou Innovation Institute,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Beihang University,Hangzhou Innovation Institute,Hangzhou,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100716868","display_name":"Tao Du","orcid":"https://orcid.org/0000-0003-1364-5986"},"institutions":[{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Du Tao","raw_affiliation_strings":["North China University of Technology,School of Information Science,Beijing,China"],"affiliations":[{"raw_affiliation_string":"North China University of Technology,School of Information Science,Beijing,China","institution_ids":["https://openalex.org/I1456306"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027435445"],"corresponding_institution_ids":["https://openalex.org/I1456306"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44007032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6801","last_page":"6807"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9325000047683716,"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":0.9325000047683716,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.05079999938607216,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.0044999998062849045,"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":0.9300000071525574},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.6747999787330627},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5859000086784363},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4648999869823456},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.45590001344680786},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.4440000057220459},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.44029998779296875},{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.3330000042915344}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9300000071525574},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6747999787330627},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.614300012588501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5947999954223633},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5859000086784363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5368000268936157},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4648999869823456},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.45590001344680786},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.4440000057220459},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.44029998779296875},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.3330000042915344},{"id":"https://openalex.org/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.32420000433921814},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.3206000030040741},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C205049153","wikidata":"https://www.wikidata.org/wiki/Q2698605","display_name":"Polarization (electrochemistry)","level":2,"score":0.28290000557899475},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2791000008583069},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2773999869823456},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C71907059","wikidata":"https://www.wikidata.org/wiki/Q223323","display_name":"Root mean square","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C20749125","wikidata":"https://www.wikidata.org/wiki/Q7917826","display_name":"Vector flow","level":4,"score":0.25450000166893005},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.2529999911785126}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11247522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247522","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:arXiv.org:2504.20380","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.20380","pdf_url":"https://arxiv.org/pdf/2504.20380","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2504.20380","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.20380","pdf_url":"https://arxiv.org/pdf/2504.20380","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2025041729","https://openalex.org/W2118223742","https://openalex.org/W2296228853","https://openalex.org/W2568736187","https://openalex.org/W2745859992","https://openalex.org/W2799174756","https://openalex.org/W2909908358","https://openalex.org/W2914693969","https://openalex.org/W2984074219","https://openalex.org/W3003659795","https://openalex.org/W3004334518","https://openalex.org/W3043971245","https://openalex.org/W3090894413","https://openalex.org/W3093702436","https://openalex.org/W3129245057","https://openalex.org/W3181051035","https://openalex.org/W3206845495","https://openalex.org/W3207892421","https://openalex.org/W4205543546","https://openalex.org/W4214948906","https://openalex.org/W4312265650","https://openalex.org/W4387385758","https://openalex.org/W4388936568","https://openalex.org/W4390204355","https://openalex.org/W4392251979","https://openalex.org/W4392941460","https://openalex.org/W4392980161","https://openalex.org/W4399938841","https://openalex.org/W4404238351","https://openalex.org/W4404520519","https://openalex.org/W4405785550","https://openalex.org/W4413156621"],"related_works":[],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,27,57,62,121,174],"tightly-coupled":[3,28],"LiDAR/Polarization":[4],"Vision/Inertial/Magnetometer/Optical":[5],"Flow":[6,64],"Odometry":[7],"via":[8],"Smoothing":[9],"and":[10,23,33,38,49,61,78,95,102,120,162],"Mapping":[11],"(LPVIMO-SAM)":[12],"framework,":[13],"which":[14],"integrates":[15],"LiDAR,":[16],"polarization":[17,84],"vision,":[18],"inertial":[19],"measurement":[20],"unit,":[21],"magnetometer,":[22],"optical":[24,97,115],"flow":[25,98,116],"in":[26,41,76,159,177],"fusion.":[29],"It":[30],"enables":[31],"high-precision":[32],"robust":[34],"real-time":[35],"state":[36],"estimation":[37],"map":[39],"construction":[40],"challenging":[42],"environments,":[43],"such":[44],"as":[45],"LiDAR-degraded,":[46,160],"low-texture":[47,79],"regions,":[48],"feature-scarce":[50],"areas.":[51],"The":[52,66,89],"LPVIMO-SAM":[53,142],"comprises":[54],"two":[55,152],"subsystems:":[56],"polarized":[58,67],"vision-inertial":[59],"system":[60],"LiDAR/Inertial/Magnetometer/Optical":[63],"System.":[65],"vision":[68],"enhances":[69],"the":[70,73,83,87,92,96,100,106,129,133,141,151],"robustness":[71],"of":[72,86,132,150],"Visual/Inertial":[74],"odometry":[75,135],"low-feature":[77,163],"scenarios":[80],"by":[81],"extracting":[82],"information":[85],"scene.":[88],"magnetometer":[90,110],"acquires":[91],"heading":[93,111],"angle,":[94],"obtains":[99],"speed":[101,117],"height":[103,122],"to":[104,127,184],"reduce":[105],"accumulated":[107],"error.":[108],"A":[109],"prior":[112],"factor,":[113,119],"an":[114],"observation":[118,123],"factor":[124,137],"are":[125],"designed":[126],"eliminate":[128],"cumulative":[130],"errors":[131],"LiDAR/Inertial":[134],"through":[136],"graph":[138],"optimization.":[139],"Meanwhile,":[140],"can":[143],"maintain":[144],"stable":[145],"positioning":[146],"even":[147],"when":[148],"one":[149],"subsystems":[153],"fails,":[154],"further":[155],"expanding":[156],"its":[157],"applicability":[158],"low-texture,":[161],"environments.":[164],"Our":[165],"comparative":[166],"experiments":[167],"against":[168],"existing":[169],"algorithms":[170],"reveals":[171],"that":[172],"achieves":[173],"43.4%":[175],"reduction":[176],"localization":[178],"root":[179],"mean":[180],"square":[181],"error":[182],"relative":[183],"LVI-SAM,":[185],"demonstrating":[186],"significant":[187],"precision":[188],"improvements.":[189]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}