{"id":"https://openalex.org/W4402350442","doi":"https://doi.org/10.1109/lra.2024.3456509","title":"MAD-ICP: It is All About Matching Data \u2013 Robust and Informed LiDAR Odometry","display_name":"MAD-ICP: It is All About Matching Data \u2013 Robust and Informed LiDAR Odometry","publication_year":2024,"publication_date":"2024-09-09","ids":{"openalex":"https://openalex.org/W4402350442","doi":"https://doi.org/10.1109/lra.2024.3456509"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3456509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3456509","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11573/1726629","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5107079262","display_name":"Simone Ferrari","orcid":"https://orcid.org/0009-0006-0829-4973"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Simone Ferrari","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering &#x201C;Antonio Ruberti&#x201D;, Sapienza University of Rome, Roma, Italy"],"raw_orcid":"https://orcid.org/0009-0006-0829-4973","affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering &#x201C;Antonio Ruberti&#x201D;, Sapienza University of Rome, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084265033","display_name":"Luca Di Giammarino","orcid":"https://orcid.org/0000-0002-1332-3496"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Di Giammarino","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering &#x201C;Antonio Ruberti&#x201D;, Sapienza University of Rome, Roma, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1332-3496","affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering &#x201C;Antonio Ruberti&#x201D;, Sapienza University of Rome, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008571079","display_name":"Leonardo Brizi","orcid":"https://orcid.org/0000-0001-6778-9374"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Leonardo Brizi","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering &#x201C;Antonio Ruberti&#x201D;, Sapienza University of Rome, Roma, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6778-9374","affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering &#x201C;Antonio Ruberti&#x201D;, Sapienza University of Rome, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grisetti","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering &#x201C;Antonio Ruberti&#x201D;, Sapienza University of Rome, Roma, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8038-9989","affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering &#x201C;Antonio Ruberti&#x201D;, Sapienza University of Rome, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5107079262"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":20.4916,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.99083186,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"9","issue":"11","first_page":"9175","last_page":"9182"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9932000041007996,"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":0.9907000064849854,"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":0.7681236267089844},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.730580747127533},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6220073699951172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5091080069541931},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48456111550331116},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.41805943846702576},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39856189489364624},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.29672330617904663},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1584288477897644},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07482799887657166},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.06818088889122009},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06326201558113098}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7681236267089844},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.730580747127533},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6220073699951172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5091080069541931},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48456111550331116},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.41805943846702576},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39856189489364624},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.29672330617904663},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1584288477897644},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07482799887657166},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.06818088889122009},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06326201558113098}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3456509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3456509","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:iris.uniroma1.it:11573/1726629","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1726629","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:iris.uniroma1.it:11573/1726629","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1726629","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322510","display_name":"Sapienza Universit\u00e0 di Roma","ror":"https://ror.org/02be6w209"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1650711021","https://openalex.org/W1953793983","https://openalex.org/W1979204363","https://openalex.org/W2024668293","https://openalex.org/W2049981393","https://openalex.org/W2063549868","https://openalex.org/W2111284499","https://openalex.org/W2131684180","https://openalex.org/W2142590632","https://openalex.org/W2150066425","https://openalex.org/W2169901455","https://openalex.org/W2296228853","https://openalex.org/W2805521962","https://openalex.org/W2909908358","https://openalex.org/W2938839210","https://openalex.org/W3009366886","https://openalex.org/W3090781369","https://openalex.org/W3091337047","https://openalex.org/W3132100918","https://openalex.org/W3132401233","https://openalex.org/W3200664388","https://openalex.org/W3201923677","https://openalex.org/W3203066970","https://openalex.org/W3207826836","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W4312260963","https://openalex.org/W4315778466","https://openalex.org/W4327662982","https://openalex.org/W4388164808","https://openalex.org/W4401413725","https://openalex.org/W6636899560","https://openalex.org/W6662860747"],"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":{"LiDAR":[0,70],"odometry":[1,71],"is":[2,106,128],"the":[3,7,10,22,45,48,95,113,120,124,132,137,141],"task":[4],"of":[5,9,37,140],"estimating":[6],"ego-motion":[8],"sensor":[11,49],"from":[12],"sequential":[13],"laser":[14],"scans.":[15],"This":[16,66],"problem":[17],"has":[18],"been":[19],"addressed":[20],"by":[21,130],"community":[23],"for":[24,123],"more":[25],"than":[26],"two":[27],"decades,":[28],"and":[29,51,78,117],"many":[30],"effective":[31],"solutions":[32],"are":[33,57],"available":[34],"nowadays.":[35],"Most":[36],"these":[38,55,76],"systems":[39,61],"implicitly":[40],"rely":[41],"on":[42,136],"assumptions":[43,56],"about":[44,112],"operating":[46,83],"environment,":[47],"used,":[50],"motion":[52],"pattern.":[53],"When":[54],"violated,":[58],"several":[59],"well-known":[60,96],"tend":[62],"to":[63,108,118],"perform":[64],"poorly.":[65],"letter":[67],"presents":[68],"a":[69,101],"system":[72],"that":[73,99,105],"can":[74],"overcome":[75],"limitations":[77],"operate":[79],"well":[80],"under":[81],"different":[82],"conditions":[84],"while":[85],"achieving":[86],"performance":[87],"comparable":[88],"with":[89],"domain-specific":[90],"methods.":[91],"Our":[92],"algorithm":[93],"follows":[94],"ICP":[97],"paradigm":[98],"leverages":[100],"PCA-based":[102],"kd-tree":[103],"implementation":[104],"used":[107],"extract":[109],"structural":[110],"information":[111],"clouds":[114],"being":[115],"registered":[116],"compute":[119],"minimization":[121],"metric":[122],"alignment.":[125],"The":[126],"drift":[127],"bound":[129],"managing":[131],"local":[133],"map":[134],"based":[135],"estimated":[138],"uncertainty":[139],"tracked":[142],"pose.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
