{"id":"https://openalex.org/W4415003007","doi":"https://doi.org/10.1109/lra.2025.3619836","title":"SVN-ICP: Uncertainty Estimation of ICP-Based LiDAR Odometry Using Stein Variational Newton","display_name":"SVN-ICP: Uncertainty Estimation of ICP-Based LiDAR Odometry Using Stein Variational Newton","publication_year":2025,"publication_date":"2025-10-09","ids":{"openalex":"https://openalex.org/W4415003007","doi":"https://doi.org/10.1109/lra.2025.3619836"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3619836","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3619836","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3619836","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Shiping Ma","orcid":"https://orcid.org/0009-0005-3136-5971"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shiping Ma","raw_affiliation_strings":["Learning &amp; Intelligent Systems Research Lab, TU Berlin, Berlin, Germany"],"raw_orcid":"https://orcid.org/0009-0005-3136-5971","affiliations":[{"raw_affiliation_string":"Learning &amp; Intelligent Systems Research Lab, TU Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107809054","display_name":"Haoming Zhang","orcid":"https://orcid.org/0000-0002-0395-6724"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Haoming Zhang","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0395-6724","affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Learning &amp; Intelligent Systems Research Lab, TU Berlin, Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5487-6767","affiliations":[{"raw_affiliation_string":"Learning &amp; Intelligent Systems Research Lab, TU Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4210105785"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28251517,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"12181","last_page":"12188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9577999711036682,"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"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9577999711036682,"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":0.7037000060081482},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5282999873161316},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5163999795913696},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5074999928474426},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4674000144004822},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4668000042438507},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.3935000002384186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37619999051094055},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3675999939441681}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7037000060081482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.578000009059906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5297999978065491},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5282999873161316},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5163999795913696},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5074999928474426},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4674000144004822},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4668000042438507},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43619999289512634},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39649999141693115},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3935000002384186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37619999051094055},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3675999939441681},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.3490000069141388},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.34290000796318054},{"id":"https://openalex.org/C41426520","wikidata":"https://www.wikidata.org/wiki/Q1192065","display_name":"Point estimation","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.31769999861717224},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.3174000084400177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3093000054359436},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.3086000084877014},{"id":"https://openalex.org/C523394659","wikidata":"https://www.wikidata.org/wiki/Q17086892","display_name":"Variational analysis","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C57830394","wikidata":"https://www.wikidata.org/wiki/Q278079","display_name":"Posterior probability","level":3,"score":0.28679999709129333},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.2827000021934509},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.2741999924182892},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.26100000739097595},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3619836","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3619836","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:doi:10.14279/depositonce-25068","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3619836","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3619836","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1988874269","https://openalex.org/W1994616650","https://openalex.org/W2049981393","https://openalex.org/W2155653863","https://openalex.org/W2169901455","https://openalex.org/W2805521962","https://openalex.org/W2966894097","https://openalex.org/W2969202254","https://openalex.org/W2999751264","https://openalex.org/W3012964127","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3176325883","https://openalex.org/W3199184510","https://openalex.org/W3201923677","https://openalex.org/W3203066970","https://openalex.org/W3206845495","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W4280571816","https://openalex.org/W4283760837","https://openalex.org/W4285047694","https://openalex.org/W4312755434","https://openalex.org/W4313051640","https://openalex.org/W4315778466","https://openalex.org/W4383108920","https://openalex.org/W4383109468","https://openalex.org/W4388983935","https://openalex.org/W4391676180","https://openalex.org/W4401414561","https://openalex.org/W4401415294","https://openalex.org/W4401415682","https://openalex.org/W4401415917","https://openalex.org/W4402350442","https://openalex.org/W4402727750","https://openalex.org/W4403600987","https://openalex.org/W4404370924","https://openalex.org/W4405786023","https://openalex.org/W4407901406","https://openalex.org/W4411136809","https://openalex.org/W4413925245"],"related_works":[],"abstract_inverted_index":{"This":[0],"letter":[1],"introduces":[2],"<monospace":[3,62,82],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[4,63,83,130,140],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">SVN-ICP</monospace>,":[5],"a":[6,86],"novel":[7],"Iterative":[8],"Closest":[9],"Point":[10],"(ICP)":[11],"algorithm":[12],"with":[13],"uncertainty":[14,122],"estimation":[15,39],"that":[16,110],"leverages":[17],"Stein":[18,58],"Variational":[19,59],"Newton":[20],"(SVN)":[21],"on":[22,116],"manifold.":[23],"Designed":[24],"specifically":[25],"for":[26,68],"fusing":[27],"LiDAR":[28],"odometry":[29],"in":[30,46],"multisensor":[31],"systems,":[32],"the":[33,51,57,66],"proposed":[34],"method":[35],"ensures":[36],"accurate":[37],"pose":[38],"and":[40,94,103],"consistent":[41],"noise":[42,70],"parameter":[43,74],"inference,":[44],"even":[45],"LiDAR-degraded":[47],"environments.":[48],"By":[49],"approximating":[50],"posterior":[52],"distribution":[53],"using":[54],"particles":[55],"within":[56],"Inference":[60],"framework,":[61],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">SVN-ICP</monospace>":[64,84],"eliminates":[65],"need":[67],"explicit":[69],"modeling":[71],"or":[72],"manual":[73],"tuning.":[75],"To":[76],"evaluate":[77],"its":[78],"effectiveness,":[79],"we":[80],"integrate":[81],"into":[85],"simple":[87],"error-state":[88],"Kalman":[89],"filter":[90],"alongside":[91],"an":[92],"IMU":[93],"test":[95],"it":[96],"across":[97],"multiple":[98],"datasets":[99],"spanning":[100],"diverse":[101],"environments":[102],"robot":[104],"types.":[105],"Extensive":[106],"experimental":[107],"results":[108],"demonstrate":[109],"our":[111,126],"approach":[112],"outperforms":[113],"best-in-class":[114],"methods":[115],"challenging":[117],"scenarios":[118],"while":[119],"providing":[120],"reliable":[121],"estimates.":[123],"We":[124],"release":[125],"code":[127],"at":[128,138],"<uri":[129,139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/LIS-TU-Berlin/SVN-ICP.git</uri>.":[131],"A":[132],"high-resolution":[133],"video":[134],"demonstration":[135],"is":[136],"available":[137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://youtu.be/c4QsMd1weik</uri>.":[141]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
