{"id":"https://openalex.org/W4290043352","doi":"https://doi.org/10.1109/lra.2022.3187272","title":"Simultaneous Localization of Rail Vehicles and Mapping of Environment With Multiple LiDARs","display_name":"Simultaneous Localization of Rail Vehicles and Mapping of Environment With Multiple LiDARs","publication_year":2022,"publication_date":"2022-06-29","ids":{"openalex":"https://openalex.org/W4290043352","doi":"https://doi.org/10.1109/lra.2022.3187272"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3187272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3187272","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5050829353","display_name":"Yusheng Wang","orcid":"https://orcid.org/0000-0002-8758-8307"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yusheng Wang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-8758-8307","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101757762","display_name":"Weiwei Song","orcid":"https://orcid.org/0000-0003-2692-1513"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Song","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045616921","display_name":"Yidong Lou","orcid":"https://orcid.org/0000-0002-2675-5677"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yidong Lou","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083538776","display_name":"Fei Huang","orcid":"https://orcid.org/0000-0001-6083-6916"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Huang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005121301","display_name":"Zhiyong Tu","orcid":"https://orcid.org/0000-0002-9307-3326"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Tu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100630314","display_name":"Shimin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shimin Zhang","raw_affiliation_strings":["Hefei power supply section, China Railway Shanghai bureau CO., LTD, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hefei power supply section, China Railway Shanghai bureau CO., LTD, Hefei, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6375,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.95242099,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"8186","last_page":"8193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7870698571205139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6916112899780273},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6878964304924011},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5330798625946045},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5301367044448853},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4380432367324829},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.424530565738678},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.421819269657135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41638708114624023},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2348114550113678},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1716514527797699},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13263586163520813},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12380948662757874}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7870698571205139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6916112899780273},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6878964304924011},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5330798625946045},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5301367044448853},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4380432367324829},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.424530565738678},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.421819269657135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41638708114624023},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2348114550113678},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1716514527797699},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13263586163520813},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12380948662757874},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3187272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3187272","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[{"display_name":"Sustainable cities and communities","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1978644820","https://openalex.org/W1991544872","https://openalex.org/W2001289855","https://openalex.org/W2085261163","https://openalex.org/W2096579040","https://openalex.org/W2126788637","https://openalex.org/W2296228853","https://openalex.org/W2377519353","https://openalex.org/W2419212966","https://openalex.org/W2507292689","https://openalex.org/W2564361441","https://openalex.org/W2745859992","https://openalex.org/W2766498203","https://openalex.org/W2806585810","https://openalex.org/W2909908358","https://openalex.org/W2952181406","https://openalex.org/W2977371410","https://openalex.org/W3033353027","https://openalex.org/W3089503906","https://openalex.org/W3095662029","https://openalex.org/W3105949586","https://openalex.org/W3126837140","https://openalex.org/W3129040539","https://openalex.org/W3129245057","https://openalex.org/W3130955304","https://openalex.org/W3159136954","https://openalex.org/W3165821964","https://openalex.org/W3166634345","https://openalex.org/W3171246200","https://openalex.org/W3183685035","https://openalex.org/W4210423514","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"Precise":[0],"and":[1,27,42,92,124],"real-time":[2],"rail":[3,67],"vehicle":[4],"localization":[5,26,126],"as":[6,8],"well":[7],"railway":[9,32],"environment":[10],"monitoring":[11,146],"is":[12,77,98,106],"crucial":[13],"for":[14,31,100,131,145],"railroad":[15,144],"safety.":[16],"In":[17,58],"this":[18],"letter,":[19],"we":[20,60],"propose":[21],"a":[22,141],"multi-LiDAR":[23],"based":[24],"simultaneous":[25],"mapping":[28,130],"(SLAM)":[29],"system":[30,72,121,135],"applications.":[33],"Our":[34,134],"approach":[35],"starts":[36],"with":[37,80,128],"measurements":[38],"preprocessing":[39],"to":[40,54,69,140],"denoise":[41],"synchronize":[43],"multiple":[44],"LiDAR":[45,56],"inputs.":[46],"Different":[47],"frame-to-frame":[48],"registration":[49],"methods":[50],"are":[51],"used":[52],"according":[53],"the":[55,62,71,88,119],"placement.":[57],"addition,":[59],"leverage":[61],"plane":[63],"constraints":[64],"from":[65],"extracted":[66],"tracks":[68],"improve":[70],"accuracy.":[73],"The":[74,103,115],"local":[75],"map":[76,82],"further":[78],"aligned":[79],"global":[81],"utilizing":[83],"absolute":[84],"position":[85],"measurements.":[86],"Considering":[87],"unavoidable":[89],"metal":[90],"abrasion":[91],"screw":[93],"loosening,":[94],"online":[95],"extrinsic":[96],"refinement":[97],"awakened":[99],"long-during":[101],"operation.":[102],"proposed":[104,120],"method":[105],"extensively":[107],"verified":[108],"on":[109],"datasets":[110],"gathered":[111],"over":[112],"3000":[113],"km.":[114],"results":[116],"demonstrate":[117],"that":[118],"achieves":[122],"accurate":[123],"robust":[125],"together":[127],"effective":[129],"large-scale":[132],"environments.":[133],"has":[136],"already":[137],"been":[138],"applied":[139],"freight":[142],"traffic":[143],"tasks.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}