{"id":"https://openalex.org/W4402389300","doi":"https://doi.org/10.1109/lra.2024.3457373","title":"NV-LIOM: LiDAR-Inertial Odometry and Mapping Using Normal Vectors Towards Robust SLAM in Multifloor Environments","display_name":"NV-LIOM: LiDAR-Inertial Odometry and Mapping Using Normal Vectors Towards Robust SLAM in Multifloor Environments","publication_year":2024,"publication_date":"2024-09-10","ids":{"openalex":"https://openalex.org/W4402389300","doi":"https://doi.org/10.1109/lra.2024.3457373"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3457373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3457373","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/A5045789945","display_name":"Dongha Chung","orcid":"https://orcid.org/0000-0001-8686-3381"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongha Chung","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-8686-3381","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054727482","display_name":"Jinwhan Kim","orcid":"https://orcid.org/0000-0001-6886-2449"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwhan Kim","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-6886-2449","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":17.7169,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.98835925,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"11","first_page":"9375","last_page":"9382"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer 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":0.9957000017166138,"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/odometry","display_name":"Odometry","score":0.8189736008644104},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7335310578346252},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6838295459747314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5944636464118958},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5684291124343872},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.553020179271698},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.49491065740585327},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.47414371371269226},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4158303141593933},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2740279734134674},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15916991233825684},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12393617630004883},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0806833803653717}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8189736008644104},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7335310578346252},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6838295459747314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5944636464118958},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5684291124343872},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.553020179271698},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.49491065740585327},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.47414371371269226},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4158303141593933},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2740279734134674},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15916991233825684},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12393617630004883},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0806833803653717},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3457373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3457373","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":[{"id":"https://metadata.un.org/sdg/13","score":0.4300000071525574,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2049981393","https://openalex.org/W2128019145","https://openalex.org/W2133476816","https://openalex.org/W2214788824","https://openalex.org/W2296228853","https://openalex.org/W2805521962","https://openalex.org/W2908603664","https://openalex.org/W3129245057","https://openalex.org/W3132921302","https://openalex.org/W3174270524","https://openalex.org/W4210423514","https://openalex.org/W4226070730","https://openalex.org/W4249866455","https://openalex.org/W4292544413","https://openalex.org/W4383109320","https://openalex.org/W4383109468","https://openalex.org/W4385656324","https://openalex.org/W4394820411","https://openalex.org/W4402727750","https://openalex.org/W6791084763","https://openalex.org/W6810916989"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4212966960","https://openalex.org/W4391249506","https://openalex.org/W3196708299","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W3126674423"],"abstract_inverted_index":{"Over":[0],"the":[1,52,98,102,113,122,125,139,158],"last":[2],"few":[3],"decades,":[4],"numerous":[5],"LiDAR-inertial":[6,79],"odometry":[7,80],"(LIO)":[8],"algorithms":[9,22],"have":[10,23],"been":[11,25],"developed,":[12],"demonstrating":[13],"satisfactory":[14],"performance":[15],"across":[16],"diverse":[17],"environments.":[18,94],"Most":[19],"of":[20,124,133],"these":[21],"predominantly":[24],"validated":[26],"in":[27,36,55,67],"open":[28],"outdoor":[29],"environments;":[30],"however,":[31],"they":[32],"often":[33],"encounter":[34],"challenges":[35],"confined":[37],"indoor":[38,42,92],"settings.":[39],"In":[40,70],"such":[41],"environments,":[43],"reliable":[44],"point":[45,87,114],"cloud":[46,88,115],"registration":[47,89,116],"becomes":[48],"problematic":[49],"due":[50],"to":[51,111,137,150],"rapid":[53],"changes":[54],"LiDAR":[56,103],"scans":[57,104],"and":[58,64,81,105,131,168],"repetitive":[59],"structural":[60],"features":[61],"like":[62],"walls":[63],"stairs,":[65],"particularly":[66],"multifloor":[68,93],"buildings.":[69],"this":[71],"letter,":[72],"we":[73],"present":[74],"NV-LIOM,":[75],"a":[76,143],"normal":[77,99,126],"vector-based":[78],"mapping":[82],"framework":[83],"focused":[84],"on":[85],"robust":[86,120],"designed":[90],"for":[91,108],"Our":[95],"approach":[96],"extracts":[97],"vectors":[100],"from":[101],"utilizes":[106],"them":[107],"correspondence":[109],"search":[110],"enhance":[112],"performance.":[117],"To":[118],"ensure":[119],"registration,":[121],"distribution":[123],"vector":[127],"directions":[128],"is":[129,148,163],"analyzed,":[130],"situations":[132],"degeneracy":[134],"are":[135,155],"examined":[136],"adjust":[138],"matching":[140],"uncertainty.":[141],"Additionally,":[142],"viewpoint-based":[144],"loop":[145],"closure":[146],"module":[147],"implemented":[149],"avoid":[151],"wrong":[152],"correspondences":[153],"that":[154],"blocked":[156],"by":[157],"walls.":[159],"The":[160],"proposed":[161],"method":[162],"tested":[164],"through":[165],"public":[166],"datasets":[167],"our":[169],"own":[170],"dataset.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2024-09-11T00:00:00"}
