{"id":"https://openalex.org/W4400650725","doi":"https://doi.org/10.1109/iv55156.2024.10588814","title":"Balanced ICP for precise lidar odometry from non bilateral correspondences","display_name":"Balanced ICP for precise lidar odometry from non bilateral correspondences","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400650725","doi":"https://doi.org/10.1109/iv55156.2024.10588814"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588814","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iv55156.2024.10588814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://cnrs.hal.science/hal-04569087/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104577747","display_name":"Matteo Azzini","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117840","display_name":"Institut de Biologie Valrose","ror":"https://ror.org/03bnma344","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I201841394","https://openalex.org/I4210096427","https://openalex.org/I4210117840"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I201841394","display_name":"Universit\u00e9 C\u00f4te d'Azur","ror":"https://ror.org/019tgvf94","country_code":"FR","type":"education","lineage":["https://openalex.org/I201841394"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Matteo Azzini","raw_affiliation_strings":["ACENTAURI Team at Centre Inria d’Université Côte d’Azur,Sophia-Antipolis,France","UniCA - Universit\u00e9 C\u00f4te d'Azur (Parc Valrose, 28, avenue Valrose 06108 Nice Cedex 2 - France)","ACENTAURI - Intelligence artificielle et algorithmes efficaces pour la robotique autonome (France)"],"affiliations":[{"raw_affiliation_string":"ACENTAURI Team at Centre Inria d’Université Côte d’Azur,Sophia-Antipolis,France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"UniCA - Universit\u00e9 C\u00f4te d'Azur (Parc Valrose, 28, avenue Valrose 06108 Nice Cedex 2 - France)","institution_ids":["https://openalex.org/I4210117840","https://openalex.org/I201841394"]},{"raw_affiliation_string":"ACENTAURI - Intelligence artificielle et algorithmes efficaces pour la robotique autonome (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045362195","display_name":"Ezio Malis","orcid":"https://orcid.org/0000-0002-6584-6790"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ezio Malis","raw_affiliation_strings":["ACENTAURI Team at Centre Inria d’Université Côte d’Azur,Sophia-Antipolis,France","ACENTAURI - Intelligence artificielle et algorithmes efficaces pour la robotique autonome (France)"],"affiliations":[{"raw_affiliation_string":"ACENTAURI Team at Centre Inria d’Université Côte d’Azur,Sophia-Antipolis,France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"ACENTAURI - Intelligence artificielle et algorithmes efficaces pour la robotique autonome (France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019929775","display_name":"Philippe Martinet","orcid":"https://orcid.org/0000-0001-5827-0431"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Martinet","raw_affiliation_strings":["ACENTAURI Team at Centre Inria d’Université Côte d’Azur,Sophia-Antipolis,France","ACENTAURI - Intelligence artificielle et algorithmes efficaces pour la robotique autonome (France)"],"affiliations":[{"raw_affiliation_string":"ACENTAURI Team at Centre Inria d’Université Côte d’Azur,Sophia-Antipolis,France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"ACENTAURI - Intelligence artificielle et algorithmes efficaces pour la robotique autonome (France)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5104577747"],"corresponding_institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I4210117840"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08971903,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3160","last_page":"3165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9599000215530396,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/lidar","display_name":"Lidar","score":0.8225011825561523},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.817646861076355},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.593215823173523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5263344645500183},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.47947725653648376},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4655965268611908},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.29786911606788635},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16899362206459045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10043478012084961}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8225011825561523},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.817646861076355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.593215823173523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5263344645500183},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.47947725653648376},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4655965268611908},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.29786911606788635},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16899362206459045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10043478012084961}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iv55156.2024.10588814","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iv55156.2024.10588814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04569087v1","is_oa":true,"landing_page_url":"https://cnrs.hal.science/hal-04569087","pdf_url":"https://cnrs.hal.science/hal-04569087/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ieeexplore.ieee.org/xpl/conhome/10587320/proceeding","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04569087v1","is_oa":true,"landing_page_url":"https://cnrs.hal.science/hal-04569087","pdf_url":"https://cnrs.hal.science/hal-04569087/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ieeexplore.ieee.org/xpl/conhome/10587320/proceeding","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307901","display_name":"EDS","ror":"https://ror.org/059rn9488"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4400650725.pdf"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W2049981393","https://openalex.org/W2150066425","https://openalex.org/W2296228853","https://openalex.org/W2561423101","https://openalex.org/W2909908358","https://openalex.org/W2961443823","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3203066970","https://openalex.org/W3206395965","https://openalex.org/W3207826836","https://openalex.org/W4315778466"],"related_works":["https://openalex.org/W2351984678","https://openalex.org/W4313854656","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418"],"abstract_inverted_index":{"In":[0],"the":[1,9,34,37,43,47,53,56,71,86,92,102,131,134,149,164,172],"field":[2],"of":[3,36,46,144,178],"lidar":[4],"odometry":[5,74],"for":[6,19],"autonomous":[7],"navigation,":[8],"Iterative":[10],"Closest":[11],"Point":[12],"(ICP)":[13],"algorithm":[14],"is":[15,30,78,137],"a":[16,82,109,141],"prevalent":[17],"choice":[18,45],"estimating":[20],"robot":[21],"motion":[22],"by":[23],"comparing":[24],"point":[25,58,94,104,124],"clouds.":[26],"However,":[27],"ICP":[28],"accuracy":[29,180],"strictly":[31],"dependent":[32],"on":[33,42,158],"nature":[35],"features":[38,87],"involved,":[39],"but":[40],"also":[41],"directional":[44],"extraction":[48,118,152],"and":[49,96,126,151,160,181],"matching,":[50],"either":[51],"from":[52,163],"current":[54,93],"to":[55,69,99,139],"reference":[57,103],"cloud":[59,95],"or":[60,63,89,120],"vice-versa.":[61],"Point-to-line":[62],"point-to-plane":[64],"correspondences":[65],"have":[66],"been":[67],"proven":[68],"provide":[70],"more":[72],"accurate":[73],"results.":[75],"The":[76,154],"matching":[77,128],"generally":[79],"done":[80],"in":[81,91,101,122,129,176],"mono-directional":[83,174],"framework:":[84],"extract":[85],"(lines":[88,119],"planes)":[90,121],"match":[97],"them":[98],"points":[100],"cloud.":[105],"This":[106],"paper":[107],"introduces":[108],"novel":[110],"formulation,":[111],"named":[112],"Balanced":[113],"ICP,":[114],"that":[115,168],"performs":[116],"feature":[117],"both":[123,130,157],"clouds":[125],"consequent":[127],"directions.":[132],"Therefore,":[133],"cost":[135],"function":[136],"designed":[138],"perform":[140],"simultaneous":[142],"optimization":[143],"all":[145],"available":[146],"data":[147,162],"balancing":[148],"noise":[150],"errors.":[153],"experiments,":[155],"conducted":[156],"simulated":[159],"real":[161],"KITTI":[165],"dataset,":[166],"reveal":[167],"our":[169],"method":[170],"outperform":[171],"classical":[173],"formulations,":[175],"terms":[177],"robustness,":[179],"stability.":[182]},"counts_by_year":[],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}