{"id":"https://openalex.org/W3200806454","doi":"https://doi.org/10.1109/lra.2021.3113043","title":"Globally Consistent 3D LiDAR Mapping With GPU-Accelerated GICP Matching Cost Factors","display_name":"Globally Consistent 3D LiDAR Mapping With GPU-Accelerated GICP Matching Cost Factors","publication_year":2021,"publication_date":"2021-09-16","ids":{"openalex":"https://openalex.org/W3200806454","doi":"https://doi.org/10.1109/lra.2021.3113043","mag":"3200806454"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3113043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3113043","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.07073","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038928126","display_name":"Kenji Koide","orcid":"https://orcid.org/0000-0001-5361-1428"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Koide","raw_affiliation_strings":["Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5361-1428","affiliations":[{"raw_affiliation_string":"Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024900204","display_name":"Masashi Yokozuka","orcid":"https://orcid.org/0000-0001-5716-205X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Yokozuka","raw_affiliation_strings":["Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039972852","display_name":"Shuji Oishi","orcid":"https://orcid.org/0000-0002-4872-9699"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuji Oishi","raw_affiliation_strings":["Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4872-9699","affiliations":[{"raw_affiliation_string":"Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078435846","display_name":"Atsuhiko Banno","orcid":"https://orcid.org/0000-0002-6394-5947"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuhiko Banno","raw_affiliation_strings":["Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":34.1611,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99476313,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"6","issue":"4","first_page":"8591","last_page":"8598"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8246743679046631},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5630813837051392},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5122532248497009},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.35593077540397644},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34435322880744934},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2857208251953125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1469540297985077},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08797085285186768}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8246743679046631},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5630813837051392},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5122532248497009},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.35593077540397644},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34435322880744934},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2857208251953125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1469540297985077},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08797085285186768}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3113043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3113043","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"},{"id":"pmh:oai:arXiv.org:2109.07073","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.07073","pdf_url":"https://arxiv.org/pdf/2109.07073","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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:2109.07073","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.07073","pdf_url":"https://arxiv.org/pdf/2109.07073","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W1846206068","https://openalex.org/W2012502415","https://openalex.org/W2023259872","https://openalex.org/W2036895101","https://openalex.org/W2050256614","https://openalex.org/W2080823437","https://openalex.org/W2128873520","https://openalex.org/W2150066425","https://openalex.org/W2277848489","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2535547924","https://openalex.org/W2767178917","https://openalex.org/W2805521962","https://openalex.org/W2910489334","https://openalex.org/W2951730755","https://openalex.org/W2963517005","https://openalex.org/W2963600667","https://openalex.org/W2969202254","https://openalex.org/W2983104849","https://openalex.org/W2990284439","https://openalex.org/W3003991701","https://openalex.org/W3007240855","https://openalex.org/W3012494314","https://openalex.org/W3039808820","https://openalex.org/W3098410961","https://openalex.org/W3102327032","https://openalex.org/W3104766777","https://openalex.org/W3126830741","https://openalex.org/W3129245057","https://openalex.org/W3133767727","https://openalex.org/W3164083741","https://openalex.org/W3165205231","https://openalex.org/W3198819597","https://openalex.org/W3206395965","https://openalex.org/W3207826836","https://openalex.org/W4249866455","https://openalex.org/W4287331103","https://openalex.org/W6774320338","https://openalex.org/W6780411392","https://openalex.org/W6790398515","https://openalex.org/W6791527978"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,19,52,88,94,106,116,142],"real-time":[4,45],"3D":[5],"LiDAR":[6],"mapping":[7,100],"framework":[8],"based":[9,104],"on":[10,105,115,148],"global":[11,46],"matching":[12,25,47,57,73,135],"cost":[13,48,58,74,136],"minimization.":[14],"The":[15,69,99,145],"proposed":[16,121,155],"method":[17,122,128],"constructs":[18],"factor":[20,59,75,97],"graph":[21],"that":[22,37,60,110,153],"directly":[23],"minimizes":[24],"costs":[26],"between":[27,85],"frames":[28,86],"over":[29],"the":[30,41,72,82,120,133,149,154,158],"entire":[31],"map,":[32],"unlike":[33],"pose":[34,42,84],"graph-based":[35],"approaches":[36],"minimize":[38],"errors":[39],"in":[40,129,141],"space.":[43],"For":[44],"minimization,":[49],"we":[50],"use":[51],"voxel":[53],"data":[54],"association-based":[55],"GICP":[56],"is":[61,102],"able":[62],"to":[63,131,138],"fully":[64],"leverage":[65],"GPU":[66,77],"parallel":[67],"processing.":[68],"combination":[70],"of":[71,81,93,161],"and":[76,91],"computation":[78],"enables":[79],"constraint":[80],"relative":[83],"with":[87,123],"small":[89],"overlap":[90,108],"creation":[92],"densely":[95],"connected":[96],"graph.":[98],"process":[101],"managed":[103],"voxel-based":[107,134],"metric":[109],"can":[111],"quickly":[112],"be":[113],"evaluated":[114],"GPU.":[117],"We":[118],"incorporate":[119],"an":[124],"external":[125],"loop":[126],"detection":[127],"order":[130],"help":[132],"factors":[137],"avoid":[139],"convergence":[140],"local":[143],"solution.":[144],"experimental":[146],"result":[147],"KITTI":[150],"dataset":[151],"shows":[152],"approach":[156],"improves":[157],"estimation":[159],"accuracy":[160],"long":[162],"trajectories.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":11}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}