{"id":"https://openalex.org/W4415593676","doi":"https://doi.org/10.1109/lra.2025.3626231","title":"Pitch Variation Filter for LiDAR-Only SLAM and Localization in Self-Balancing Mobile Robot","display_name":"Pitch Variation Filter for LiDAR-Only SLAM and Localization in Self-Balancing Mobile Robot","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W4415593676","doi":"https://doi.org/10.1109/lra.2025.3626231"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3626231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3626231","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":null,"display_name":"Doyeon Kim","orcid":"https://orcid.org/0009-0000-6271-4365"},"institutions":[{"id":"https://openalex.org/I113409471","display_name":"Kumoh National Institute of Technology","ror":"https://ror.org/05dkjfz60","country_code":"KR","type":"education","lineage":["https://openalex.org/I113409471"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Doyeon Kim","raw_affiliation_strings":["Department of IT Convergence, Kumoh National Institute of Technology, Gumi, Republic of Korea","IT Convergence Department, Kumoh National Institute of Technology, Gumi, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0000-6271-4365","affiliations":[{"raw_affiliation_string":"Department of IT Convergence, Kumoh National Institute of Technology, Gumi, Republic of Korea","institution_ids":["https://openalex.org/I113409471"]},{"raw_affiliation_string":"IT Convergence Department, Kumoh National Institute of Technology, Gumi, Republic of Korea","institution_ids":["https://openalex.org/I113409471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035064525","display_name":"Heoncheol Lee","orcid":"https://orcid.org/0000-0003-2962-3474"},"institutions":[{"id":"https://openalex.org/I113409471","display_name":"Kumoh National Institute of Technology","ror":"https://ror.org/05dkjfz60","country_code":"KR","type":"education","lineage":["https://openalex.org/I113409471"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heoncheol Lee","raw_affiliation_strings":["Department of IT Convergence, Kumoh National Institute of Technology, Gumi, Republic of Korea","IT Convergence Department, Kumoh National Institute of Technology, Gumi, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-2962-3474","affiliations":[{"raw_affiliation_string":"Department of IT Convergence, Kumoh National Institute of Technology, Gumi, Republic of Korea","institution_ids":["https://openalex.org/I113409471"]},{"raw_affiliation_string":"IT Convergence Department, Kumoh National Institute of Technology, Gumi, Republic of Korea","institution_ids":["https://openalex.org/I113409471"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111770699","display_name":"Ka Hyung Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I196733613","display_name":"Korea Gas Corporation (South Korea)","ror":"https://ror.org/0058p8h34","country_code":"KR","type":"company","lineage":["https://openalex.org/I196733613"]},{"id":"https://openalex.org/I2818286","display_name":"LG (United States)","ror":"https://ror.org/02b948n83","country_code":"US","type":"company","lineage":["https://openalex.org/I2818286","https://openalex.org/I4210131320"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Ka Hyung Choi","raw_affiliation_strings":["Appliance Research Laboratory, LG Electronics Inc., Gasan R&amp;D Campus, Seoul, Republic of Korea","Appliance Research Laboratory, LG Electronics Inc., Gasan R&amp;D Campus, 51, Gasan digital 1-ro, Geumcheon-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Appliance Research Laboratory, LG Electronics Inc., Gasan R&amp;D Campus, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I2818286"]},{"raw_affiliation_string":"Appliance Research Laboratory, LG Electronics Inc., Gasan R&amp;D Campus, 51, Gasan digital 1-ro, Geumcheon-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I2818286","https://openalex.org/I196733613"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.7251,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.96516884,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"12","first_page":"12836","last_page":"12843"},"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":0.9835000038146973,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9718000292778015,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5734000205993652},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5450000166893005},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.54339998960495},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5267000198364258},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5145999789237976},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.49729999899864197},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4961000084877014},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4860999882221222}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7153000235557556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6344000101089478},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6039999723434448},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5734000205993652},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5450000166893005},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.54339998960495},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5267000198364258},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5145999789237976},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.49729999899864197},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4961000084877014},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4860999882221222},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44510000944137573},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.43540000915527344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4165000021457672},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4016999900341034},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.3953000009059906},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3732999861240387},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3287000060081482},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.32199999690055847},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.26989999413490295},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3626231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3626231","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":[{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1578421573","https://openalex.org/W1967740178","https://openalex.org/W1988874269","https://openalex.org/W1999636742","https://openalex.org/W2120499270","https://openalex.org/W2130422193","https://openalex.org/W2145166484","https://openalex.org/W2411093439","https://openalex.org/W2474281075","https://openalex.org/W2553041077","https://openalex.org/W2739781348","https://openalex.org/W2781843292","https://openalex.org/W2897440084","https://openalex.org/W2909908358","https://openalex.org/W2940793188","https://openalex.org/W2968031102","https://openalex.org/W3043971245","https://openalex.org/W3161855852","https://openalex.org/W4224283988","https://openalex.org/W4310605739","https://openalex.org/W4321788216","https://openalex.org/W4385834120","https://openalex.org/W4388164808","https://openalex.org/W4390636204","https://openalex.org/W4391306321"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,37,48,53,81,106],"Pitch":[4],"Variation":[5],"Problem":[6],"in":[7],"Two-Wheeled":[8],"Self-Balancing":[9],"(TWSB)":[10],"robots":[11],"that":[12,35,66,90],"use":[13],"2D":[14,38],"LiDAR":[15,39],"for":[16,83],"Simultaneous":[17],"Localization":[18],"And":[19],"Mapping":[20],"(SLAM).":[21],"The":[22],"issue":[23],"arises":[24],"from":[25,43],"sudden":[26],"accelerations":[27],"or":[28,50],"decelerations,":[29],"leading":[30],"to":[31,40,128],"abrupt":[32],"pitch":[33,73],"variations":[34],"cause":[36],"capture":[41],"data":[42],"unintended":[44],"surfaces,":[45],"such":[46],"as":[47,105],"ground":[49],"ceiling,":[51],"destabilizing":[52],"robot's":[54],"position":[55],"estimation.":[56],"To":[57],"mitigate":[58],"this,":[59],"we":[60],"propose":[61],"a":[62,119],"novel":[63],"preprocessing":[64],"method":[65,92,108],"efficiently":[67],"removes":[68],"point":[69],"clusters":[70],"affected":[71],"by":[72,75,95],"variation":[74],"leveraging":[76],"their":[77],"distinct":[78],"characteristics,":[79],"without":[80],"need":[82],"an":[84],"alignment":[85],"process.":[86],"Experimental":[87],"results":[88],"demonstrate":[89],"our":[91],"reduces":[93],"errors":[94],"at":[96],"least":[97],"24.31%":[98],"across":[99],"various":[100],"scan":[101],"matching":[102],"algorithms.":[103,137],"Furthermore,":[104],"proposed":[107],"operates":[109],"independently":[110],"of":[111,122],"SLAM,":[112],"it":[113],"can":[114],"be":[115],"seamlessly":[116],"integrated":[117],"into":[118],"wide":[120],"range":[121],"systems":[123],"and":[124],"has":[125],"been":[126],"shown":[127],"substantially":[129],"enhance":[130],"SLAM":[131],"performance":[132],"when":[133],"used":[134],"alongside":[135],"existing":[136]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-28T00:00:00"}
