{"id":"https://openalex.org/W4313051640","doi":"https://doi.org/10.1109/lra.2022.3226068","title":"Picking up Speed: Continuous-Time Lidar-Only Odometry Using Doppler Velocity Measurements","display_name":"Picking up Speed: Continuous-Time Lidar-Only Odometry Using Doppler Velocity Measurements","publication_year":2022,"publication_date":"2022-12-01","ids":{"openalex":"https://openalex.org/W4313051640","doi":"https://doi.org/10.1109/lra.2022.3226068"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3226068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3226068","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/A5069957123","display_name":"Yuchen Wu","orcid":"https://orcid.org/0000-0001-5136-382X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Yuchen Wu","raw_affiliation_strings":["Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-5136-382X","affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027301346","display_name":"David J. Yoon","orcid":"https://orcid.org/0000-0002-4838-7422"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"David J. Yoon","raw_affiliation_strings":["Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-4838-7422","affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030796058","display_name":"Keenan Burnett","orcid":"https://orcid.org/0000-0001-7496-1144"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Keenan Burnett","raw_affiliation_strings":["Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7496-1144","affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054916364","display_name":"Soeren Kammel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Soeren Kammel","raw_affiliation_strings":["Aeva Inc., Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0779-3096","affiliations":[{"raw_affiliation_string":"Aeva Inc., Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100419257","display_name":"Yi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi Chen","raw_affiliation_strings":["Aeva Inc., Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aeva Inc., Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063525282","display_name":"Heethesh Vhavle","orcid":"https://orcid.org/0000-0002-5935-7720"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heethesh Vhavle","raw_affiliation_strings":["Aeva Inc., Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5935-7720","affiliations":[{"raw_affiliation_string":"Aeva Inc., Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-3899-631X","affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies (UTIAS), University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5069957123"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":10.1735,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.98366606,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"1","first_page":"264","last_page":"271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9984999895095825,"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":0.9984999895095825,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9811000227928162,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.978600025177002,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.874975323677063},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8623559474945068},{"id":"https://openalex.org/keywords/continuous-wave","display_name":"Continuous wave","score":0.7178513407707214},{"id":"https://openalex.org/keywords/doppler-effect","display_name":"Doppler effect","score":0.713611364364624},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5779029726982117},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.536021888256073},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4769398272037506},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4204341173171997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3997926712036133},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33181923627853394},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2586497366428375},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.19858315587043762},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17276284098625183},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.13439589738845825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11062341928482056},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1082737147808075},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07948827743530273}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.874975323677063},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8623559474945068},{"id":"https://openalex.org/C99568719","wikidata":"https://www.wikidata.org/wiki/Q1129003","display_name":"Continuous wave","level":3,"score":0.7178513407707214},{"id":"https://openalex.org/C142757262","wikidata":"https://www.wikidata.org/wiki/Q76436","display_name":"Doppler effect","level":2,"score":0.713611364364624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5779029726982117},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.536021888256073},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4769398272037506},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4204341173171997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3997926712036133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33181923627853394},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2586497366428375},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.19858315587043762},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17276284098625183},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.13439589738845825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11062341928482056},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1082737147808075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07948827743530273},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3226068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3226068","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":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1539091696","https://openalex.org/W1559010065","https://openalex.org/W1883991860","https://openalex.org/W1982254061","https://openalex.org/W1986434229","https://openalex.org/W1988918158","https://openalex.org/W2001496915","https://openalex.org/W2049981393","https://openalex.org/W2050551672","https://openalex.org/W2096020743","https://openalex.org/W2114084853","https://openalex.org/W2150066425","https://openalex.org/W2158662637","https://openalex.org/W2204930965","https://openalex.org/W2277848489","https://openalex.org/W2295255295","https://openalex.org/W2461937780","https://openalex.org/W2745007981","https://openalex.org/W2762897752","https://openalex.org/W2805521962","https://openalex.org/W2890354344","https://openalex.org/W2891275937","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2960305679","https://openalex.org/W2963517005","https://openalex.org/W2963600667","https://openalex.org/W2963677072","https://openalex.org/W2964162504","https://openalex.org/W2977461652","https://openalex.org/W2980857376","https://openalex.org/W2998553944","https://openalex.org/W3002270926","https://openalex.org/W3003991701","https://openalex.org/W3089503906","https://openalex.org/W3102369338","https://openalex.org/W3124420883","https://openalex.org/W3198819597","https://openalex.org/W3203066970","https://openalex.org/W3206776160","https://openalex.org/W3207826836","https://openalex.org/W4225363100","https://openalex.org/W4226214062","https://openalex.org/W4286543002","https://openalex.org/W4300437862","https://openalex.org/W4313051640","https://openalex.org/W4327692895","https://openalex.org/W6810195191","https://openalex.org/W6842822819"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W2109797662","https://openalex.org/W3044316722","https://openalex.org/W4386096066","https://openalex.org/W4390949145","https://openalex.org/W4386097793"],"abstract_inverted_index":{"Frequency-Modulated":[0],"Continuous-Wave":[1],"(FMCW)":[2],"lidar":[3,41,79],"is":[4],"a":[5],"recently":[6],"emerging":[7],"technology":[8],"that":[9,55,107],"additionally":[10,127],"enables":[11],"per-return":[12],"instantaneous":[13],"relative":[14],"radial":[15],"velocity":[16,36,111,139],"measurements":[17,37,140],"via":[18],"the":[19,27,58,72,103],"Doppler":[20,35,110,138],"effect.":[21],"In":[22],"this":[23,120],"letter,":[24],"we":[25,98,114],"present":[26],"first":[28],"continuous-time":[29,53],"lidar-only":[30,132],"odometry":[31,44,133],"algorithm":[32,87,101],"using":[33,61,137],"these":[34],"from":[38],"an":[39,51],"FMCW":[40],"to":[42,65,71],"aid":[43],"in":[45,141],"geometrically":[46],"degenerate":[47],"environments.":[48],"We":[49,83,126],"apply":[50],"existing":[52,105],"framework":[54],"efficiently":[56],"estimates":[57],"vehicle":[59],"trajectory":[60],"Gaussian":[62],"process":[63],"regression":[64],"compensate":[66],"for":[67],"motion":[68],"distortion":[69],"due":[70],"scanning-while-moving":[73],"nature":[74],"of":[75,131],"any":[76],"mechanically":[77],"actuated":[78],"(FMCW":[80],"and":[81,96,113,135],"non-FMCW).":[82],"evaluate":[84],"our":[85],"proposed":[86],"on":[88],"several":[89],"real-world":[90],"datasets,":[91],"including":[92,119],"publicly":[93],"available":[94],"ones":[95],"datasets":[97],"collected.":[99],"Our":[100],"outperforms":[102],"only":[104],"method":[106],"also":[108],"uses":[109],"measurements,":[112],"study":[115],"difficult":[116],"conditions":[117],"where":[118],"extra":[121],"information":[122],"greatly":[123],"improves":[124],"performance.":[125],"demonstrate":[128],"state-of-the-art":[129],"performance":[130],"with":[134],"without":[136],"nominal":[142],"conditions.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}