{"id":"https://openalex.org/W4317796409","doi":"https://doi.org/10.1109/lra.2023.3238902","title":"Large-Scale LiDAR Consistent Mapping Using Hierarchical LiDAR Bundle Adjustment","display_name":"Large-Scale LiDAR Consistent Mapping Using Hierarchical LiDAR Bundle Adjustment","publication_year":2023,"publication_date":"2023-01-23","ids":{"openalex":"https://openalex.org/W4317796409","doi":"https://doi.org/10.1109/lra.2023.3238902"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3238902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238902","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/A5053366495","display_name":"Xiyuan Liu","orcid":"https://orcid.org/0000-0002-4925-1498"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Xiyuan Liu","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-4925-1498","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041866950","display_name":"Zheng Liu","orcid":"https://orcid.org/0000-0001-6176-5283"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Liu","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-6176-5283","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028346445","display_name":"Fanze Kong","orcid":"https://orcid.org/0000-0003-2391-3702"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fanze Kong","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-2391-3702","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-8636-4168","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5053366495"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":43.9171,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.99800328,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"8","issue":"3","first_page":"1523","last_page":"1530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9962000250816345,"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/lidar","display_name":"Lidar","score":0.9123921394348145},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.730982780456543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6204217672348022},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5690527558326721},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5621426701545715},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5383895635604858},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5071818828582764},{"id":"https://openalex.org/keywords/hessian-matrix","display_name":"Hessian matrix","score":0.49661022424697876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45955953001976013},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3271934390068054},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.26919668912887573},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22501158714294434},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1716003715991974},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.13849911093711853},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09921354055404663},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.09384816884994507}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9123921394348145},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.730982780456543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6204217672348022},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5690527558326721},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5621426701545715},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5383895635604858},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5071818828582764},{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.49661022424697876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45955953001976013},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3271934390068054},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.26919668912887573},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22501158714294434},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1716003715991974},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.13849911093711853},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09921354055404663},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.09384816884994507},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3238902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238902","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:repository.hkust.edu.hk:1783.1-158173","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-158173","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2036895101","https://openalex.org/W2049981393","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2805521962","https://openalex.org/W2909908358","https://openalex.org/W3091337047","https://openalex.org/W3111373086","https://openalex.org/W3111598592","https://openalex.org/W3127512444","https://openalex.org/W3129245057","https://openalex.org/W3132401233","https://openalex.org/W3133767727","https://openalex.org/W3162996633","https://openalex.org/W3174270524","https://openalex.org/W3195727878","https://openalex.org/W3203066970","https://openalex.org/W3206395965","https://openalex.org/W3207826836","https://openalex.org/W4206800736","https://openalex.org/W4210423514","https://openalex.org/W4221150082","https://openalex.org/W4226070730","https://openalex.org/W4285177584","https://openalex.org/W4285269741","https://openalex.org/W4387042048","https://openalex.org/W6810916989"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W2611031068","https://openalex.org/W4319837668","https://openalex.org/W1704347466","https://openalex.org/W4308071650","https://openalex.org/W1996936972","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Reconstructing":[0],"an":[1],"accurate":[2],"and":[3,62,79,119,127,139,149,152,159],"consistent":[4,61,173],"large-scale":[5,50,68,141],"LiDAR":[6,32,123,144,155],"point":[7],"cloud":[8],"map":[9,174],"is":[10,23,46],"crucial":[11],"for":[12,67],"robotics":[13],"applications.":[14],"The":[15,125],"existing":[16],"solution,":[17],"pose":[18,82,114],"graph":[19,83,115],"optimization,":[20,84,116],"though":[21],"it":[22,45],"time-efficient,":[24],"does":[25],"not":[26],"directly":[27],"optimize":[28],"the":[29,87,93,109,113,122,183],"mapping":[30,64],"consistency.":[31],"bundle":[33],"adjustment":[34],"(BA)":[35],"has":[36],"been":[37,134],"recently":[38],"proposed":[39,71,131],"to":[40],"resolve":[41],"this":[42,54,56],"issue;":[43],"however,":[44],"too":[47],"time-consuming":[48],"on":[49,136],"maps.":[51,69],"To":[52],"mitigate":[53],"problem,":[55],"paper":[57],"presents":[58],"a":[59,75,80,102,171],"globally":[60,172],"efficient":[63],"method":[65],"suitable":[66],"Our":[70],"work":[72,168],"consists":[73],"of":[74,89,129,182],"bottom-up":[76],"hierarchical":[77,94],"BA":[78,99],"top-down":[81],"which":[85],"combines":[86],"advantages":[88],"both":[90],"methods.":[91],"With":[92,162],"design,":[95],"we":[96,117,165],"solve":[97],"multiple":[98,137],"problems":[100],"with":[101,112,175],"much":[103],"smaller":[104],"Hessian":[105],"matrix":[106],"size":[107],"than":[108],"original":[110],"BA;":[111],"smoothly":[118],"efficiently":[120],"update":[121],"poses.":[124],"effectiveness":[126],"robustness":[128],"our":[130,167],"approach":[132],"have":[133],"validated":[135],"spatially":[138],"timely":[140],"public":[142],"spinning":[143],"datasets,":[145],"i.e.,":[146],"KITTI,":[147],"MulRan":[148],"Newer":[150],"College,":[151],"self-collected":[153],"solid-state":[154],"datasets":[156],"under":[157],"structured":[158],"unstructured":[160],"scenes.":[161],"proper":[163],"setups,":[164],"demonstrate":[166],"could":[169],"generate":[170],"around":[176],"12":[177],"<inline-formula":[178],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[179],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[180],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[181],"sequence":[184],"time.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
