{"id":"https://openalex.org/W4385521775","doi":"https://doi.org/10.1109/lra.2023.3301290","title":"DRIO: Robust Radar-Inertial Odometry in Dynamic Environments","display_name":"DRIO: Robust Radar-Inertial Odometry in Dynamic Environments","publication_year":2023,"publication_date":"2023-08-03","ids":{"openalex":"https://openalex.org/W4385521775","doi":"https://doi.org/10.1109/lra.2023.3301290"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3301290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3301290","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/A5017134522","display_name":"Hongyu Chen","orcid":"https://orcid.org/0009-0009-8553-301X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Chen","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-8553-301X","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100728989","display_name":"Yimin Liu","orcid":"https://orcid.org/0000-0002-8947-1268"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yimin Liu","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8947-1268","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074480992","display_name":"Yuwei Cheng","orcid":"https://orcid.org/0000-0002-6819-2075"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuwei Cheng","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6819-2075","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":24.212,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99342721,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"8","issue":"9","first_page":"5918","last_page":"5925"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9947999715805054,"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":0.9568611979484558},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7085811495780945},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.6327584981918335},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6214462518692017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5490411520004272},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5386950373649597},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.45224910974502563},{"id":"https://openalex.org/keywords/radar-engineering-details","display_name":"Radar engineering details","score":0.4151000380516052},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3706822395324707},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3166603744029999},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.29284706711769104},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2824159264564514},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14809748530387878},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06783872842788696}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9568611979484558},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7085811495780945},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.6327584981918335},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6214462518692017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5490411520004272},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5386950373649597},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.45224910974502563},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.4151000380516052},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3706822395324707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3166603744029999},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.29284706711769104},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2824159264564514},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14809748530387878},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06783872842788696},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3301290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3301290","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1582306910","https://openalex.org/W2015442982","https://openalex.org/W2085261163","https://openalex.org/W2108134361","https://openalex.org/W2132360065","https://openalex.org/W2158662637","https://openalex.org/W2296228853","https://openalex.org/W2474281075","https://openalex.org/W2564632156","https://openalex.org/W2745859992","https://openalex.org/W2963121255","https://openalex.org/W3009950332","https://openalex.org/W3035021594","https://openalex.org/W3043971245","https://openalex.org/W3087767329","https://openalex.org/W3090913682","https://openalex.org/W3090925395","https://openalex.org/W3109995084","https://openalex.org/W3129245057","https://openalex.org/W3186729138","https://openalex.org/W3204554924","https://openalex.org/W4210674219","https://openalex.org/W4214881827","https://openalex.org/W4283073915","https://openalex.org/W4285303928","https://openalex.org/W4308080461","https://openalex.org/W4313010044","https://openalex.org/W4318464607","https://openalex.org/W4365420566","https://openalex.org/W4383066578","https://openalex.org/W6739778489","https://openalex.org/W6838978441"],"related_works":["https://openalex.org/W813170165","https://openalex.org/W2126722086","https://openalex.org/W2168170647","https://openalex.org/W2015996585","https://openalex.org/W2156168935","https://openalex.org/W3025451043","https://openalex.org/W3004363006","https://openalex.org/W2560622599","https://openalex.org/W2625455490","https://openalex.org/W2947241406"],"abstract_inverted_index":{"Accurate":[0],"and":[1,28,101,135],"robust":[2,47,134],"localization":[3,137],"is":[4,64,111,115],"essential":[5],"for":[6,18,51,157],"mobile":[7],"robots.":[8],"Recently,":[9],"millimeter":[10],"wave":[11],"(mmWave)":[12],"radars":[13],"have":[14],"been":[15],"widely":[16],"used":[17],"odometry,":[19,145],"owing":[20],"to":[21,24,86,121,144],"their":[22,87],"robustness":[23],"all-weather":[25],"conditions,":[26],"lightweight":[27],"low":[29],"cost.":[30],"However,":[31],"existing":[32],"radar-based":[33],"odometry":[34,49],"methods":[35],"degrade":[36],"severely":[37],"in":[38,82,138],"high-dynamic":[39,52],"environments.":[40,69,141],"In":[41,142],"this":[42,92],"letter,":[43],"we":[44],"propose":[45],"a":[46],"radar-inertial":[48],"method":[50,132,147],"environments":[53],"(DRIO)":[54],"by":[55,66,94],"exploiting":[56],"the":[57,67,73,105,123,130,151],"ground,":[58],"an":[59],"ever-present":[60],"static":[61],"target":[62],"that":[63,129],"unaffected":[65],"dynamic":[68,140],"The":[70,125],"points":[71,81,97],"of":[72,153],"ground":[74,96],"surface":[75],"were":[76],"traditionally":[77],"treated":[78],"as":[79],"clutter":[80],"previous":[83],"works":[84],"due":[85],"unstable":[88],"distribution.":[89],"We":[90],"overcome":[91],"limitation":[93],"detecting":[95],"using":[98],"both":[99],"Doppler":[100],"geometric":[102],"characteristics.":[103],"During":[104],"detection":[106],"process,":[107],"accurate":[108],"radar":[109,154],"velocity":[110],"jointly":[112],"estimated,":[113],"which":[114],"then":[116],"fused":[117],"with":[118],"inertial":[119],"data":[120],"obtain":[122],"odometry.":[124],"real-world":[126],"evaluations":[127],"indicate":[128],"proposed":[131],"achieves":[133],"Lidar-level":[136],"complex":[139],"addition":[143],"our":[146],"can":[148],"effectively":[149],"improve":[150],"quality":[152],"point":[155],"clouds":[156],"subsequent":[158],"perception":[159],"tasks.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}