{"id":"https://openalex.org/W4414757853","doi":"https://doi.org/10.1109/lra.2025.3617329","title":"Lane Model-Constrained Monocular Inertial Visual SLAM for High-Precision Localization in Highway Scenes","display_name":"Lane Model-Constrained Monocular Inertial Visual SLAM for High-Precision Localization in Highway Scenes","publication_year":2025,"publication_date":"2025-10-02","ids":{"openalex":"https://openalex.org/W4414757853","doi":"https://doi.org/10.1109/lra.2025.3617329"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3617329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3617329","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/A5035012729","display_name":"Man Luo","orcid":"https://orcid.org/0000-0002-9509-4403"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Man Luo","raw_affiliation_strings":["School of Automotive Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041718089","display_name":"M. L. Yan","orcid":"https://orcid.org/0000-0002-6454-8580"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maosheng Yan","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002166335","display_name":"Yuan Guo","orcid":"https://orcid.org/0000-0002-5121-2148"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Guo","raw_affiliation_strings":["School of Resources and Environmental Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Resources and Environmental Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013315789","display_name":"Bijun Li","orcid":"https://orcid.org/0000-0001-7180-7627"},"institutions":[{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bijun Li","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088319346","display_name":"Jian Zhou","orcid":"https://orcid.org/0000-0001-6707-6542"},"institutions":[{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Zhou","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5035012729"],"corresponding_institution_ids":["https://openalex.org/I196699116"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36657385,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"11856","last_page":"11863"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9972000122070312,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/odometry","display_name":"Odometry","score":0.5996000170707703},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5281000137329102},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.5266000032424927},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4767000079154968},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4684000015258789},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.46369999647140503},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4551999866962433},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4332999885082245},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.38909998536109924},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.3847000002861023}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7559999823570251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7339000105857849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7228999733924866},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5996000170707703},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5281000137329102},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.5266000032424927},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4767000079154968},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4684000015258789},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.46369999647140503},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4551999866962433},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4332999885082245},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.38909998536109924},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3847000002861023},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.37689998745918274},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.36730000376701355},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.35929998755455017},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.3456999957561493},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.335999995470047},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.328000009059906},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3084999918937683},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.2937000095844269},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.2700999975204468},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.26339998841285706},{"id":"https://openalex.org/C84119951","wikidata":"https://www.wikidata.org/wiki/Q3498530","display_name":"Vehicle tracking system","level":3,"score":0.2624000012874603},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3617329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3617329","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":22,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W2117228865","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2963324085","https://openalex.org/W3003178336","https://openalex.org/W3035574168","https://openalex.org/W3043971245","https://openalex.org/W3206820494","https://openalex.org/W4221143432","https://openalex.org/W4281642191","https://openalex.org/W4281698346","https://openalex.org/W4312229467","https://openalex.org/W4321458293","https://openalex.org/W4384284172","https://openalex.org/W4389396265","https://openalex.org/W4393379578","https://openalex.org/W4405934373","https://openalex.org/W4409002855","https://openalex.org/W4413981576"],"related_works":[],"abstract_inverted_index":{"Continuous":[0],"stability,":[1],"as":[2,19,88],"one":[3],"of":[4,8,38,134,205],"the":[5,9,20,24,35,39,84,132,168,203],"core":[6],"modules":[7],"autopilot":[10],"system,":[11],"is":[12],"particularly":[13,57],"important":[14],"for":[15,54,91],"its":[16],"performance.":[17,192],"However,":[18],"vehicle":[21,60,104],"speed":[22],"increases,":[23],"system":[25,210],"positioning":[26,36],"error":[27],"may":[28],"be":[29],"amplified,":[30],"consequently":[31],"introducing":[32],"deviations":[33],"in":[34,48,58,94],"consistency":[37],"system.":[40],"The":[41,137],"inherent":[42],"high":[43,81],"speeds":[44],"and":[45,64,77,80,102,122],"motion":[46],"constraints":[47],"highway":[49,199],"environments":[50],"introduce":[51],"new":[52],"challenges":[53],"feature":[55],"matching,":[56],"vision-based":[59],"localization,":[61],"where":[62],"initialization":[63],"scale":[65,152],"estimation":[66],"biases":[67],"are":[68,148,158,176],"further":[69],"expanded.":[70],"Lane":[71],"markings,":[72],"characterized":[73],"by":[74],"their":[75],"simple":[76],"uniform":[78],"structures":[79],"distinctiveness":[82],"from":[83,117],"surrounding":[85],"environment,":[86],"serve":[87],"effective":[89],"features":[90],"matching-based":[92],"localization":[93,105,187,191,211],"autonomous":[95],"driving.":[96],"This":[97],"paper":[98],"introduces":[99],"a":[100,197],"high-precision":[101],"robust":[103],"method":[106],"based":[107],"on":[108,145,196],"lane":[109,114,124,135,146,206],"model":[110,115,123],"constraints.":[111],"Initially,":[112],"leveraging":[113],"parameters":[116],"prior":[118,142,161],"maps,":[119],"we":[120],"track":[121],"line":[125],"detections":[126],"across":[127],"consecutive":[128],"frames":[129],"to":[130,150,166,184],"enhance":[131],"completeness":[133],"representation.":[136],"tracking":[138],"results,":[139],"combined":[140],"with":[141,160],"map":[143,173],"data":[144],"widths,":[147],"employed":[149],"optimize":[151],"parameters.":[153],"Subsequently,":[154],"real-time":[155,186],"detected":[156],"lanes":[157],"matched":[159],"maps":[162],"through":[163],"point-map":[164],"association":[165],"constrain":[167],"vehicle's":[169],"heading":[170],"angle.":[171],"Finally,":[172],"matching":[174],"results":[175],"integrated":[177],"into":[178],"existing":[179],"visual":[180],"local":[181],"odometry":[182],"methods":[183],"perform":[185],"optimization,":[188],"thereby":[189],"improving":[190],"Experimental":[193],"evaluations":[194],"conducted":[195],"self-collected":[198],"dataset":[200],"demonstrate":[201],"that":[202],"incorporation":[204],"models":[207],"significantly":[208],"enhances":[209],"accuracy.":[212]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}