{"id":"https://openalex.org/W4402742689","doi":"https://doi.org/10.1109/lra.2024.3466088","title":"Point-Line LIVO Using Patch-Based Gradient Optimization for Degenerate Scenes","display_name":"Point-Line LIVO Using Patch-Based Gradient Optimization for Degenerate Scenes","publication_year":2024,"publication_date":"2024-09-23","ids":{"openalex":"https://openalex.org/W4402742689","doi":"https://doi.org/10.1109/lra.2024.3466088"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3466088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3466088","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/A5101446521","display_name":"Tong Shi","orcid":"https://orcid.org/0000-0001-5149-6710"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Shi","raw_affiliation_strings":["School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-5149-6710","affiliations":[{"raw_affiliation_string":"School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083546491","display_name":"Kun Qian","orcid":"https://orcid.org/0000-0001-7429-1742"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Qian","raw_affiliation_strings":["School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-7429-1742","affiliations":[{"raw_affiliation_string":"School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103141380","display_name":"Yixin Fang","orcid":"https://orcid.org/0009-0005-1029-2013"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixin Fang","raw_affiliation_strings":["School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0005-1029-2013","affiliations":[{"raw_affiliation_string":"School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356786","display_name":"Yun Zhang","orcid":"https://orcid.org/0000-0001-9465-7975"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Zhang","raw_affiliation_strings":["School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9465-7975","affiliations":[{"raw_affiliation_string":"School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055713850","display_name":"Hai Yu","orcid":"https://orcid.org/0000-0001-5558-4195"},"institutions":[{"id":"https://openalex.org/I4392738113","display_name":"China Electric Power Research Institute","ror":"https://ror.org/05ehpzy81","country_code":null,"type":"facility","lineage":["https://openalex.org/I17442442","https://openalex.org/I4392738113"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai Yu","raw_affiliation_strings":["Information and Communication Research Institute of China Electric Power Research Institute Company, Ltd., Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-5558-4195","affiliations":[{"raw_affiliation_string":"Information and Communication Research Institute of China Electric Power Research Institute Company, Ltd., Nanjing, China","institution_ids":["https://openalex.org/I4392738113"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4992,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61053958,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"9","issue":"11","first_page":"9717","last_page":"9724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9943000078201294,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9943000078201294,"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.954200029373169,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.650375485420227},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6098171472549438},{"id":"https://openalex.org/keywords/degenerate-energy-levels","display_name":"Degenerate energy levels","score":0.6096022129058838},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5430324673652649},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4364719092845917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.416671484708786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2802771329879761},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20577850937843323},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1735929548740387}],"concepts":[{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.650375485420227},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6098171472549438},{"id":"https://openalex.org/C72319582","wikidata":"https://www.wikidata.org/wiki/Q584304","display_name":"Degenerate energy levels","level":2,"score":0.6096022129058838},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5430324673652649},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4364719092845917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.416671484708786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2802771329879761},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20577850937843323},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1735929548740387},{"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.2024.3466088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3466088","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":[{"id":"https://openalex.org/G5180739296","display_name":null,"funder_award_id":"61573101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1491059241","https://openalex.org/W1970504153","https://openalex.org/W2130103520","https://openalex.org/W2296228853","https://openalex.org/W2565472677","https://openalex.org/W2768018028","https://openalex.org/W2946662939","https://openalex.org/W2962733873","https://openalex.org/W2964794620","https://openalex.org/W3090894413","https://openalex.org/W3104285145","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3181051035","https://openalex.org/W3199184510","https://openalex.org/W3200664388","https://openalex.org/W3206845495","https://openalex.org/W3214208961","https://openalex.org/W4214820331","https://openalex.org/W4214940741","https://openalex.org/W4285200012","https://openalex.org/W4285269741","https://openalex.org/W4312265650","https://openalex.org/W4313854707","https://openalex.org/W4387089064","https://openalex.org/W4390099907","https://openalex.org/W4391467941","https://openalex.org/W4395056564","https://openalex.org/W4404520519","https://openalex.org/W6745830181","https://openalex.org/W6872470788"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1,24,46,146],"and":[2,9,26,57,123,138,147],"mapping":[3,27,104],"based":[4,37],"on":[5,38,134],"3-D":[6,98,108],"light":[7],"detection":[8],"ranging":[10],"(LiDAR)":[11],"tends":[12],"to":[13,19,81,96],"degenerate":[14,154],"in":[15,23,47,152],"structural-less":[16],"environments,":[17],"leading":[18],"a":[20,32,84],"distinct":[21],"reduction":[22],"accuracy":[25],"precision.":[28],"This":[29,114],"article":[30],"proposes":[31],"point-line":[33],"LiDAR-visual-inertial":[34],"odometry":[35,64],"(PL-LIVO)":[36],"the":[39,60,69,107,111,119],"system":[40],"implementation":[41],"of":[42,100,110,118],"FAST-LIVO":[43],"for":[44,73,125],"robust":[45,145],"LiDAR-degenerate":[48],"scenes.":[49,155],"The":[50],"key":[51],"idea":[52],"is":[53,94,116],"integrating":[54],"both":[55,135],"points":[56],"lines":[58],"into":[59],"proposed":[61,95],"direct":[62],"visual":[63,88,101],"subsystem":[65],"(PL-DVO).":[66],"By":[67],"minimizing":[68],"patch-based":[70],"gradient":[71],"residuals":[72],"state":[74],"optimization,":[75],"PL-DVO":[76],"provides":[77],"additional":[78],"constraints":[79],"complementary":[80],"LiDAR.":[82],"Furthermore,":[83],"LiDAR":[85,112,130,153],"map":[86],"assisted":[87],"features":[89,102],"depth":[90],"extraction":[91],"(LM-VDE)":[92],"method":[93,115],"recover":[97],"positions":[99],"by":[103],"them":[105],"onto":[106],"planes":[109],"map.":[113],"independent":[117],"single":[120],"scan's":[121],"density":[122],"notable":[124],"superior":[126],"generalization":[127],"across":[128],"various":[129],"sensors.":[131],"Extensive":[132],"experiments":[133],"public":[136],"datasets":[137,140],"our":[139],"demonstrate":[141],"that":[142],"PL-LIVO":[143],"ensures":[144],"outperforms":[148],"other":[149],"state-of-the-art":[150],"systems":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}