{"id":"https://openalex.org/W4400645582","doi":"https://doi.org/10.1109/lra.2024.3427552","title":"TNDF-Fusion: Implicit Truncated Neural Distance Field for LiDAR Dense Mapping and Localization in Large Urban Environments","display_name":"TNDF-Fusion: Implicit Truncated Neural Distance Field for LiDAR Dense Mapping and Localization in Large Urban Environments","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4400645582","doi":"https://doi.org/10.1109/lra.2024.3427552"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3427552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3427552","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/A5100325713","display_name":"Zhiming Chen","orcid":"https://orcid.org/0009-0008-6945-9182"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhiming Chen","raw_affiliation_strings":["Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0009-0008-6945-9182","affiliations":[{"raw_affiliation_string":"Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342285","display_name":"Kun Zhang","orcid":"https://orcid.org/0000-0001-7210-6574"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kun Zhang","raw_affiliation_strings":["Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-7210-6574","affiliations":[{"raw_affiliation_string":"Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001058965","display_name":"Hua Chen","orcid":"https://orcid.org/0000-0002-4252-8693"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Chen","raw_affiliation_strings":["School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-4252-8693","affiliations":[{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068828641","display_name":"Michael Yu Wang","orcid":"https://orcid.org/0000-0002-6524-5741"},"institutions":[{"id":"https://openalex.org/I4396570619","display_name":"Great Bay University","ror":"https://ror.org/01hdgge16","country_code":null,"type":"education","lineage":["https://openalex.org/I4396570619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Michael Yu Wang","raw_affiliation_strings":["School of Engineering, Great Bay University, Dongguan, China"],"raw_orcid":"https://orcid.org/0000-0002-6524-5741","affiliations":[{"raw_affiliation_string":"School of Engineering, Great Bay University, Dongguan, China","institution_ids":["https://openalex.org/I4396570619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100441694","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-7511-2870"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7511-2870","affiliations":[{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053597658","display_name":"Hongyu Yu","orcid":"https://orcid.org/0000-0002-6899-9346"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongyu Yu","raw_affiliation_strings":["Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-6899-9346","affiliations":[{"raw_affiliation_string":"Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.062,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94812932,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"9","issue":"9","first_page":"7445","last_page":"7452"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9997000098228455,"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":0.9988999962806702,"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":0.7666172981262207},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5811830759048462},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5100255608558655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3788300156593323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3625642657279968},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3573095202445984},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3355715274810791},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32596713304519653},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19579342007637024},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.06732529401779175}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7666172981262207},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5811830759048462},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5100255608558655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3788300156593323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3625642657279968},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3573095202445984},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3355715274810791},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32596713304519653},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19579342007637024},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.06732529401779175},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3427552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3427552","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:1783.1-143521","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-143521","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G7361240800","display_name":null,"funder_award_id":"ITS/036/21FP","funder_id":"https://openalex.org/F4320321920","funder_display_name":"Innovation and Technology Commission"}],"funders":[{"id":"https://openalex.org/F4320321920","display_name":"Innovation and Technology Commission","ror":"https://ror.org/04vf9tr09"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1987648924","https://openalex.org/W2085261163","https://openalex.org/W2115579991","https://openalex.org/W2118104180","https://openalex.org/W2133844819","https://openalex.org/W2194775991","https://openalex.org/W2229412420","https://openalex.org/W2607968634","https://openalex.org/W2799116135","https://openalex.org/W2805521962","https://openalex.org/W2963627347","https://openalex.org/W2963926543","https://openalex.org/W3102129812","https://openalex.org/W3132401233","https://openalex.org/W3154129649","https://openalex.org/W3202037070","https://openalex.org/W3206776160","https://openalex.org/W3213840695","https://openalex.org/W4200150166","https://openalex.org/W4210338699","https://openalex.org/W4210974115","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4249866455","https://openalex.org/W4283785867","https://openalex.org/W4285269741","https://openalex.org/W4292544413","https://openalex.org/W4307783807","https://openalex.org/W4312234520","https://openalex.org/W4312870968","https://openalex.org/W4312878643","https://openalex.org/W4315778466","https://openalex.org/W4317796268","https://openalex.org/W4321512716","https://openalex.org/W4382658067","https://openalex.org/W4383108462","https://openalex.org/W4383108551","https://openalex.org/W4386066489","https://openalex.org/W4386412305","https://openalex.org/W4387623994","https://openalex.org/W4390873060","https://openalex.org/W4390873066","https://openalex.org/W6745935785","https://openalex.org/W6797770180"],"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/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Large-scale":[0],"3D":[1,70],"mapping":[2,37,122,132],"is":[3,30],"an":[4,68,168],"important":[5],"task":[6],"for":[7,98,120,163],"robotics":[8],"and":[9,15,39,87,140],"autonomous":[10,16],"driving.":[11],"However,":[12],"mobile":[13],"robots":[14],"vehicles":[17],"with":[18,25,100],"limited":[19],"hardware":[20],"resources":[21],"may":[22],"face":[23],"issues":[24],"large":[26],"memory":[27,40,126],"consumption.":[28,41],"It":[29],"challenging":[31],"to":[32,91,129,147],"achieve":[33],"a":[34,48,75,101],"balance":[35],"between":[36],"quality":[38],"To":[42],"address":[43],"this":[44],"issue,":[45],"we":[46,73,151],"propose":[47],"new":[49],"compact":[50],"implicit":[51,159],"neural":[52,160],"map":[53,161],"representation":[54,162],"-":[55],"the":[56,61,82,93,138,153,158,174],"Tri-Pyramid":[57],"that":[58,112],"can":[59],"infer":[60],"Truncated":[62],"Neural":[63],"Distance":[64],"Field":[65],"(TNDF)":[66],"given":[67],"arbitrary":[69],"position.":[71],"Additionally,":[72],"introduce":[74],"TNDF":[76],"label":[77],"rectification":[78],"method":[79,114,180],"considering":[80],"both":[81],"direction":[83],"of":[84,95,103,142,155,178],"ground":[85],"normals":[86],"closest":[88],"surface":[89],"points":[90],"enhance":[92],"precision":[94],"supervision":[96],"signals":[97],"training":[99],"set":[102],"effective":[104],"loss":[105],"functions.":[106],"Experiments":[107],"on":[108],"public":[109],"datasets":[110],"demonstrated":[111],"our":[113,135,143,179],"reaches":[115],"comparable":[116],"or":[117],"superior":[118],"performance":[119],"dense":[121],"while":[123],"significantly":[124],"reducing":[125],"consumption":[127],"compared":[128],"previous":[130],"LiDAR":[131],"approaches.":[133],"Furthermore,":[134],"study":[136],"confirms":[137],"scalability":[139],"adaptability":[141],"approach":[144],"from":[145],"room-scale":[146],"city-scale":[148],"scenes.":[149],"Moreover,":[150],"explore":[152],"potential":[154],"directly":[156],"leveraging":[157],"localization":[164,176],"tasks":[165],"by":[166],"solving":[167],"optimization":[169],"problem.":[170],"The":[171],"experiments":[172],"showcase":[173],"accurate":[175],"capabilities":[177],"in":[181],"various":[182],"scenarios.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
