{"id":"https://openalex.org/W4405600463","doi":"https://doi.org/10.1109/jiot.2024.3519577","title":"DO-Removal: Dynamic Object Removal for LiDAR-Inertial Odometry Enabled by Front-End Real-Time Strategy","display_name":"DO-Removal: Dynamic Object Removal for LiDAR-Inertial Odometry Enabled by Front-End Real-Time Strategy","publication_year":2024,"publication_date":"2024-12-19","ids":{"openalex":"https://openalex.org/W4405600463","doi":"https://doi.org/10.1109/jiot.2024.3519577"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2024.3519577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3519577","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5014623112","display_name":"Genyuan Xing","orcid":"https://orcid.org/0009-0001-9356-351X"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Genyuan Xing","raw_affiliation_strings":["Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076431789","display_name":"Kunyang Wu","orcid":"https://orcid.org/0009-0003-8557-5873"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunyang Wu","raw_affiliation_strings":["Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Siyuan Shao","orcid":"https://orcid.org/0009-0000-7513-9830"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Shao","raw_affiliation_strings":["Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033999647","display_name":"Huanyu Zhao","orcid":"https://orcid.org/0000-0002-2624-3612"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanyu Zhao","raw_affiliation_strings":["Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101878907","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0002-8187-0555"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051297707","display_name":"Jun Lin","orcid":"https://orcid.org/0000-0002-7568-9346"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Lin","raw_affiliation_strings":["Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051002009","display_name":"Guanyu Zhang","orcid":"https://orcid.org/0000-0002-3108-5604"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanyu Zhang","raw_affiliation_strings":["Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Geophysical Exploration Equipment, the College of Instrumentation and Electrical Engineering, Institute of Intelligent Instruments and Measurement Controlling Technology, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Key Laboratory of Geophysical Exploration Equipment, Jilin University, Changchun, Jilin Province","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5014623112"],"corresponding_institution_ids":["https://openalex.org/I194450716"],"apc_list":null,"apc_paid":null,"fwci":6.9893,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.96425801,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"12","issue":"9","first_page":"11553","last_page":"11567"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8873122930526733},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7369823455810547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7250735759735107},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6560075283050537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5763798952102661},{"id":"https://openalex.org/keywords/front","display_name":"Front (military)","score":0.4569171071052551},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45658817887306213},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.45648834109306335},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4460177421569824},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.42567914724349976},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3445158004760742},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2921612560749054},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2106069028377533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20293453335762024},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.15039119124412537},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13335755467414856},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10744553804397583}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8873122930526733},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7369823455810547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7250735759735107},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6560075283050537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5763798952102661},{"id":"https://openalex.org/C2777551076","wikidata":"https://www.wikidata.org/wiki/Q842332","display_name":"Front (military)","level":2,"score":0.4569171071052551},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45658817887306213},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.45648834109306335},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4460177421569824},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.42567914724349976},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3445158004760742},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2921612560749054},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2106069028377533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20293453335762024},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.15039119124412537},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13335755467414856},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10744553804397583},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2024.3519577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3519577","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G5480288978","display_name":null,"funder_award_id":"20240302057GX","funder_id":"https://openalex.org/F4320321655","funder_display_name":"Science and Technology Development Fund"}],"funders":[{"id":"https://openalex.org/F4320321655","display_name":"Science and Technology Development Fund","ror":"https://ror.org/044vr6g03"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2033574012","https://openalex.org/W2113859792","https://openalex.org/W2296228853","https://openalex.org/W2766213449","https://openalex.org/W2790141132","https://openalex.org/W2909908358","https://openalex.org/W2965737813","https://openalex.org/W2983104849","https://openalex.org/W3003991701","https://openalex.org/W3045289042","https://openalex.org/W3089607054","https://openalex.org/W3091486995","https://openalex.org/W3095662029","https://openalex.org/W3129245057","https://openalex.org/W3130044230","https://openalex.org/W3133309409","https://openalex.org/W3133648073","https://openalex.org/W3167842529","https://openalex.org/W3186380594","https://openalex.org/W3206395965","https://openalex.org/W3207941059","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W4213231647","https://openalex.org/W4292544413","https://openalex.org/W4312880567","https://openalex.org/W4385430744","https://openalex.org/W4386869837","https://openalex.org/W4387986964","https://openalex.org/W4388286360","https://openalex.org/W4389252691","https://openalex.org/W4389332139","https://openalex.org/W4390481032","https://openalex.org/W4390636204","https://openalex.org/W4394699092","https://openalex.org/W4394744378","https://openalex.org/W4396598924","https://openalex.org/W4401070333","https://openalex.org/W6847017582"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2382856674"],"abstract_inverted_index":{"Most":[0],"current":[1],"light":[2],"detection":[3],"and":[4,9,67,84,126,142,153,160],"ranging":[5],"(LiDAR)-based":[6],"simultaneous":[7],"localization":[8],"mapping":[10],"(SLAM)":[11],"methods":[12],"are":[13],"based":[14,118],"on":[15,119,138],"static":[16,85],"conditions,":[17],"but":[18],"real-world":[19],"scenarios":[20],"often":[21],"violate":[22],"this":[23,31,88],"prior":[24],"assumption.":[25],"To":[26],"address":[27],"the":[28,44,73,105,108,139],"existing":[29],"challenges,":[30],"article":[32,89],"proposes":[33,90],"DO-Removal,":[34],"an":[35],"online":[36],"LiDAR-inertial":[37],"odometry":[38],"that":[39,99],"removes":[40],"dynamic":[41,76,83],"objects.":[42],"Specifically,":[43],"method":[45,98],"uses":[46,68],"ground":[47],"fitting":[48],"results":[49,70,148],"as":[50,61],"a":[51,91,114,143],"reference,":[52],"takes":[53],"point":[54,78,94],"cloud":[55,79,95],"measurements":[56],"with":[57,149],"significant":[58],"geometric":[59],"features":[60,129],"seed":[62],"points":[63],"for":[64],"region":[65],"growing,":[66],"clustering":[69],"to":[71,158],"determine":[72],"confidence":[74],"of":[75,107],"element":[77],"segmentation,":[80],"thereby":[81],"separating":[82],"elements.":[86],"Additionally,":[87],"multiline":[92],"LiDAR":[93],"feature":[96],"extraction":[97,109],"considers":[100],"context":[101],"beams":[102],"simultaneously,":[103],"enhancing":[104],"significance":[106],"results.":[110],"It":[111],"also":[112],"implements":[113],"residual":[115],"optimization":[116],"function":[117],"distance":[120],"truncation,":[121],"distinguishing":[122],"contributions":[123],"by":[124],"confidence,":[125],"adaptively":[127],"weighting":[128],"at":[130],"different":[131],"distances.":[132],"Finally,":[133],"extensive":[134],"testing":[135],"was":[136],"conducted":[137],"KITTI":[140],"dataset":[141],"self-collected":[144],"dataset,":[145],"achieving":[146],"competitive":[147],"absolute":[150,154],"trajectory":[151],"error":[152,156],"rotation":[155],"reduced":[157],"0.51%":[159],"0.19\u00b0/100":[161],"m,":[162],"respectively.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
