{"id":"https://openalex.org/W3190891462","doi":"https://doi.org/10.1109/lra.2021.3097060","title":"Low-Drift Odometry, Mapping and Ground Segmentation Using a Backpack LiDAR System","display_name":"Low-Drift Odometry, Mapping and Ground Segmentation Using a Backpack LiDAR System","publication_year":2021,"publication_date":"2021-07-29","ids":{"openalex":"https://openalex.org/W3190891462","doi":"https://doi.org/10.1109/lra.2021.3097060","mag":"3190891462"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3097060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3097060","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5043575088","display_name":"Pengxin Chen","orcid":"https://orcid.org/0000-0003-1310-4530"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Pengxin Chen","raw_affiliation_strings":["Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-1310-4530","affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644664","display_name":"Wenzhong Shi","orcid":"https://orcid.org/0000-0002-3886-7027"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenzhong Shi","raw_affiliation_strings":["Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053988508","display_name":"Sheng Bao","orcid":"https://orcid.org/0000-0003-2709-4863"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Sheng Bao","raw_affiliation_strings":["Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-2709-4863","affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101541144","display_name":"Muyang Wang","orcid":"https://orcid.org/0000-0002-2869-1670"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Muyang Wang","raw_affiliation_strings":["Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-2869-1670","affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088835980","display_name":"Wenzheng Fan","orcid":"https://orcid.org/0000-0003-3798-1538"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenzheng Fan","raw_affiliation_strings":["Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057949991","display_name":"Haodong Xiang","orcid":"https://orcid.org/0000-0002-1160-9466"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Haodong Xiang","raw_affiliation_strings":["Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-1160-9466","affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo-informatics, and the Smart Cities Research Institute, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":27.7575,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99254879,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"6","issue":"4","first_page":"7285","last_page":"7292"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9997000098228455,"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":0.9988999962806702,"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":0.8100632429122925},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7681074738502502},{"id":"https://openalex.org/keywords/backpack","display_name":"Backpack","score":0.7660346031188965},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6836037039756775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6606582999229431},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6565748453140259},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6225547790527344},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5837823152542114},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5758826732635498},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4274928867816925},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.41884198784828186},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4106660485267639},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3732244074344635},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20006656646728516},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1192602813243866},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11117184162139893},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.07488259673118591}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8100632429122925},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7681074738502502},{"id":"https://openalex.org/C2780345887","wikidata":"https://www.wikidata.org/wiki/Q5843","display_name":"Backpack","level":2,"score":0.7660346031188965},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6836037039756775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6606582999229431},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6565748453140259},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6225547790527344},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5837823152542114},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5758826732635498},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4274928867816925},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.41884198784828186},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4106660485267639},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3732244074344635},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20006656646728516},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1192602813243866},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11117184162139893},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.07488259673118591},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3097060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3097060","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1534853363","display_name":null,"funder_award_id":"4-BCF7","funder_id":"https://openalex.org/F4320322598","funder_display_name":"Hong Kong Polytechnic University"},{"id":"https://openalex.org/G3479729433","display_name":null,"funder_award_id":"1-ZVN6","funder_id":"https://openalex.org/F4320322598","funder_display_name":"Hong Kong Polytechnic University"}],"funders":[{"id":"https://openalex.org/F4320322598","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1650975994","https://openalex.org/W1883517952","https://openalex.org/W1988888548","https://openalex.org/W2010812659","https://openalex.org/W2049981393","https://openalex.org/W2051610568","https://openalex.org/W2130763585","https://openalex.org/W2144473577","https://openalex.org/W2176673053","https://openalex.org/W2277848489","https://openalex.org/W2565029242","https://openalex.org/W2793559583","https://openalex.org/W2905100780","https://openalex.org/W2909908358","https://openalex.org/W2944796900","https://openalex.org/W2983104849","https://openalex.org/W2990754555","https://openalex.org/W2991767878","https://openalex.org/W3015072278","https://openalex.org/W3042095125","https://openalex.org/W3096556319","https://openalex.org/W3104408604","https://openalex.org/W3129245057","https://openalex.org/W3132401233","https://openalex.org/W3159136954","https://openalex.org/W3166634345","https://openalex.org/W3171246200","https://openalex.org/W3214208961","https://openalex.org/W4249866455","https://openalex.org/W6636989855","https://openalex.org/W6784441844","https://openalex.org/W6804013209"],"related_works":["https://openalex.org/W2357598413","https://openalex.org/W1572898627","https://openalex.org/W2158982542","https://openalex.org/W4378741294","https://openalex.org/W4285152105","https://openalex.org/W4311253224","https://openalex.org/W1993992947","https://openalex.org/W2562256921","https://openalex.org/W2970400973","https://openalex.org/W2051437301"],"abstract_inverted_index":{"We":[0],"propose":[1,43],"a":[2,11,25,39,44,50,81],"framework":[3],"for":[4,88],"odometry,":[5],"mapping":[6,78],"and":[7,19,59,77,109,137],"ground":[8,83],"segmentation":[9,84],"using":[10,133],"backpack":[12,90,105],"LiDAR":[13,91],"system":[14],"that":[15,124],"achieves":[16],"both":[17],"real-time":[18],"low-drift":[20],"performance.":[21],"First,":[22],"we":[23,42,94],"present":[24],"spatio-temporal":[26],"calibration":[27],"method":[28,47,85,98,120,126],"to":[29,117],"carefully":[30],"merge":[31],"scans":[32],"from":[33],"the":[34,75,89,96,104,129],"two":[35,55],"laser":[36],"scanners":[37],"on":[38],"backpack.":[40],"Second,":[41],"feature":[45],"extraction":[46],"which":[48],"generalizes":[49],"point's":[51],"geometrical":[52],"characteristics":[53],"as":[54],"groups":[56],"(disjoint,":[57],"continuous)":[58],"three":[60],"types":[61],"(edge,":[62],"corner,":[63],"plane).":[64],"The":[65],"extracted":[66],"features":[67],"are":[68],"used":[69,116],"in":[70,74,99],"point":[71],"cloud":[72],"registration":[73],"odometry":[76],"tasks.":[79],"Third,":[80],"fast":[82],"is":[86,115],"customized":[87],"system.":[92],"Finally,":[93],"evaluate":[95],"proposed":[97],"four":[100],"datasets":[101],"logged":[102],"by":[103],"across":[106],"different":[107],"scales":[108],"environments.":[110],"Furthermore,":[111],"NTU":[112],"VIRAL":[113],"dataset":[114],"benchmark":[118],"our":[119,125],"quantitatively.":[121],"Experiments":[122],"show":[123],"consistently":[127],"outperforms":[128],"state-of-the-art":[130],"methods":[131],"before":[132],"loop":[134],"closure":[135],"optimization":[136],"sensor":[138],"fusion":[139],"techniques.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}